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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
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//
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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//
// Author: sameeragarwal@google.com (Sameer Agarwal)
//
// Block structure objects are used to carry information about the
// dense block structure of sparse matrices. The BlockSparseMatrix
// object uses the BlockStructure objects to keep track of the matrix
// structure and operate upon it. This allows us to use more cache
// friendly block oriented linear algebra operations on the matrix
// instead of accessing it one scalar entry at a time.
#ifndef CERES_INTERNAL_BLOCK_STRUCTURE_H_
#define CERES_INTERNAL_BLOCK_STRUCTURE_H_
#include <vector>
#include "ceres/internal/port.h"
#include "ceres/types.h"
namespace ceres {
namespace internal {
typedef int32 BlockSize;
struct Block {
Block() : size(-1), position(-1) {}
Block(int size_, int position_) : size(size_), position(position_) {}
BlockSize size;
int position; // Position along the row/column.
};
struct Cell {
Cell() : block_id(-1), position(-1) {}
Cell(int block_id_, int position_)
: block_id(block_id_), position(position_) {}
// Column or row block id as the case maybe.
int block_id;
// Where in the values array of the jacobian is this cell located.
int position;
};
// Order cell by their block_id;
bool CellLessThan(const Cell& lhs, const Cell& rhs);
struct CompressedList {
Block block;
vector<Cell> cells;
};
typedef CompressedList CompressedRow;
typedef CompressedList CompressedColumn;
struct CompressedRowBlockStructure {
vector<Block> cols;
vector<CompressedRow> rows;
};
struct CompressedColumnBlockStructure {
vector<Block> rows;
vector<CompressedColumn> cols;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_BLOCK_STRUCTURE_H_