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Diffstat (limited to 'internal/ceres/block_random_access_dense_matrix.cc')
-rw-r--r-- | internal/ceres/block_random_access_dense_matrix.cc | 83 |
1 files changed, 83 insertions, 0 deletions
diff --git a/internal/ceres/block_random_access_dense_matrix.cc b/internal/ceres/block_random_access_dense_matrix.cc new file mode 100644 index 0000000..aedfc74 --- /dev/null +++ b/internal/ceres/block_random_access_dense_matrix.cc @@ -0,0 +1,83 @@ +// 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 +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: sameeragarwal@google.com (Sameer Agarwal) + +#include "ceres/block_random_access_dense_matrix.h" + +#include <vector> +#include "ceres/internal/eigen.h" +#include "ceres/internal/scoped_ptr.h" +#include "glog/logging.h" + +namespace ceres { +namespace internal { + +BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix( + const vector<int>& blocks) { + block_layout_.resize(blocks.size(), 0); + num_rows_ = 0; + for (int i = 0; i < blocks.size(); ++i) { + block_layout_[i] = num_rows_; + num_rows_ += blocks[i]; + } + + values_.reset(new double[num_rows_ * num_rows_]); + CHECK_NOTNULL(values_.get()); + cell_info_.values = values_.get(); + SetZero(); +} + +// Assume that the user does not hold any locks on any cell blocks +// when they are calling SetZero. +BlockRandomAccessDenseMatrix::~BlockRandomAccessDenseMatrix() { +} + +CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id, + const int col_block_id, + int* row, + int* col, + int* row_stride, + int* col_stride) { + *row = block_layout_[row_block_id]; + *col = block_layout_[col_block_id]; + *row_stride = num_rows_; + *col_stride = num_rows_; + return &cell_info_; +} + +// Assume that the user does not hold any locks on any cell blocks +// when they are calling SetZero. +void BlockRandomAccessDenseMatrix::SetZero() { + if (num_rows_) { + VectorRef(values_.get(), num_rows_ * num_rows_).setZero(); + } +} + +} // namespace internal +} // namespace ceres |