sparse_block_matrix.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_SPARSE_BLOCK_MATRIX_
#define G2O_SPARSE_BLOCK_MATRIX_
 
#include <Eigen/Core>
#include <cassert>
#include <fstream>
#include <iomanip>
#include <iostream>
#include <map>
#include <memory>
#include <vector>
 
#include "g2o/config.h"
#include "g2o/stuff/misc.h"
#include "g2o/stuff/sparse_helper.h"
#include "matrix_operations.h"
#include "matrix_structure.h"
#include "sparse_block_matrix_ccs.h"
 
namespace g2o {
template <class MatrixType = MatrixX>
class SparseBlockMatrix {
 public:
  typedef MatrixType SparseMatrixBlock;

  inline int cols() const {
    return _colBlockIndices.size() ? _colBlockIndices.back() : 0;
  }

  inline int rows() const {
    return _rowBlockIndices.size() ? _rowBlockIndices.back() : 0;
  }
 
  typedef std::map<int, SparseMatrixBlock*> IntBlockMap;

  SparseBlockMatrix(const int* rbi, const int* cbi, int rb, int cb,
                    bool hasStorage = true);
 
  SparseBlockMatrix();
 
  ~SparseBlockMatrix();

  void clear(bool dealloc = false);

  SparseMatrixBlock* block(int r, int c, bool alloc = false);
  const SparseMatrixBlock* block(int r, int c) const;

  inline int rowsOfBlock(int r) const {
    return r ? _rowBlockIndices[r] - _rowBlockIndices[r - 1]
             : _rowBlockIndices[0];
  }

  inline int colsOfBlock(int c) const {
    return c ? _colBlockIndices[c] - _colBlockIndices[c - 1]
             : _colBlockIndices[0];
  }

  inline int rowBaseOfBlock(int r) const {
    return r ? _rowBlockIndices[r - 1] : 0;
  }

  inline int colBaseOfBlock(int c) const {
    return c ? _colBlockIndices[c - 1] : 0;
  }

  size_t nonZeros() const;
  size_t nonZeroBlocks() const;

  SparseBlockMatrix* clone() const;

  SparseBlockMatrix* slice(int rmin, int rmax, int cmin, int cmax,
                           bool alloc = true) const;

  template <class MatrixTransposedType>
  bool transpose(SparseBlockMatrix<MatrixTransposedType>& dest) const;
 
  template <class MatrixTransposedType>
  std::unique_ptr<SparseBlockMatrix<MatrixTransposedType>> transposed() const;

  bool add(SparseBlockMatrix<MatrixType>& dest) const;
  std::unique_ptr<SparseBlockMatrix<MatrixType>> added() const;

  template <class MatrixResultType, class MatrixFactorType>
  bool multiply(SparseBlockMatrix<MatrixResultType>*& dest,
                const SparseBlockMatrix<MatrixFactorType>* M) const;

  void multiply(double*& dest, const double* src) const;

  void multiplySymmetricUpperTriangle(double*& dest, const double* src) const;

  void rightMultiply(double*& dest, const double* src) const;

  void scale(double a);

  bool symmPermutation(SparseBlockMatrix<MatrixType>*& dest, const int* pinv,
                       bool onlyUpper = false) const;

  int fillCCS(int* Cp, int* Ci, double* Cx, bool upperTriangle = false) const;

  int fillCCS(double* Cx, bool upperTriangle = false) const;

  void fillBlockStructure(MatrixStructure& ms) const;

  void fillBlockStructure(int* Cp, int* Ci) const;

  const std::vector<IntBlockMap>& blockCols() const { return _blockCols; }
  std::vector<IntBlockMap>& blockCols() { return _blockCols; }

  const std::vector<int>& rowBlockIndices() const { return _rowBlockIndices; }
  std::vector<int>& rowBlockIndices() { return _rowBlockIndices; }

  const std::vector<int>& colBlockIndices() const { return _colBlockIndices; }
  std::vector<int>& colBlockIndices() { return _colBlockIndices; }

  bool writeOctave(const char* filename, bool upperTriangle = true) const;

  int fillSparseBlockMatrixCCS(
      SparseBlockMatrixCCS<MatrixType>& blockCCS) const;

  int fillSparseBlockMatrixCCSTransposed(
      SparseBlockMatrixCCS<MatrixType>& blockCCS) const;

  void takePatternFromHash(SparseBlockMatrixHashMap<MatrixType>& hashMatrix);
 
 protected:
  std::vector<int> _rowBlockIndices;  
  std::vector<int>
      _colBlockIndices;  
  std::vector<IntBlockMap> _blockCols;
  bool _hasStorage;
 
 private:
  template <class MatrixTransposedType>
  void transpose_internal(SparseBlockMatrix<MatrixTransposedType>& dest) const;
 
  void add_internal(SparseBlockMatrix<MatrixType>& dest) const;
};
 
template <class MatrixType>
std::ostream& operator<<(std::ostream&, const SparseBlockMatrix<MatrixType>& m);
 
typedef SparseBlockMatrix<MatrixX> SparseBlockMatrixX;
 
}  // namespace g2o
 
#include "sparse_block_matrix.hpp"
 
#endif