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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// 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)
+//
+// Implementation of the SparseMatrix interface for block sparse
+// matrices.
+
+#ifndef CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
+
+#include <memory>
+#include "ceres/block_structure.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+class TripletSparseMatrix;
+
+// This class implements the SparseMatrix interface for storing and
+// manipulating block sparse matrices. The block structure is stored
+// in the CompressedRowBlockStructure object and one is needed to
+// initialize the matrix. For details on how the blocks structure of
+// the matrix is stored please see the documentation
+//
+// internal/ceres/block_structure.h
+//
+class BlockSparseMatrix : public SparseMatrix {
+ public:
+ // Construct a block sparse matrix with a fully initialized
+ // CompressedRowBlockStructure objected. The matrix takes over
+ // ownership of this object and destroys it upon destruction.
+ //
+ // TODO(sameeragarwal): Add a function which will validate legal
+ // CompressedRowBlockStructure objects.
+ explicit BlockSparseMatrix(CompressedRowBlockStructure* block_structure);
+
+ BlockSparseMatrix();
+ BlockSparseMatrix(const BlockSparseMatrix&) = delete;
+ void operator=(const BlockSparseMatrix&) = delete;
+
+ virtual ~BlockSparseMatrix();
+
+ // Implementation of SparseMatrix interface.
+ virtual void SetZero();
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual void LeftMultiply(const double* x, double* y) const;
+ virtual void SquaredColumnNorm(double* x) const;
+ virtual void ScaleColumns(const double* scale);
+ virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+ virtual void ToTextFile(FILE* file) const;
+
+ virtual int num_rows() const { return num_rows_; }
+ virtual int num_cols() const { return num_cols_; }
+ virtual int num_nonzeros() const { return num_nonzeros_; }
+ virtual const double* values() const { return values_.get(); }
+ virtual double* mutable_values() { return values_.get(); }
+
+ void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const;
+ const CompressedRowBlockStructure* block_structure() const;
+
+ // Append the contents of m to the bottom of this matrix. m must
+ // have the same column blocks structure as this matrix.
+ void AppendRows(const BlockSparseMatrix& m);
+
+ // Delete the bottom delta_rows_blocks.
+ void DeleteRowBlocks(int delta_row_blocks);
+
+ static BlockSparseMatrix* CreateDiagonalMatrix(
+ const double* diagonal,
+ const std::vector<Block>& column_blocks);
+
+ struct RandomMatrixOptions {
+ int num_row_blocks = 0;
+ int min_row_block_size = 0;
+ int max_row_block_size = 0;
+ int num_col_blocks = 0;
+ int min_col_block_size = 0;
+ int max_col_block_size = 0;
+
+ // 0 < block_density <= 1 is the probability of a block being
+ // present in the matrix. A given random matrix will not have
+ // precisely this density.
+ double block_density = 0.0;
+
+ // If col_blocks is non-empty, then the generated random matrix
+ // has this block structure and the column related options in this
+ // struct are ignored.
+ std::vector<Block> col_blocks;
+ };
+
+ // Create a random BlockSparseMatrix whose entries are normally
+ // distributed and whose structure is determined by
+ // RandomMatrixOptions.
+ //
+ // Caller owns the result.
+ static BlockSparseMatrix* CreateRandomMatrix(
+ const RandomMatrixOptions& options);
+
+ private:
+ int num_rows_;
+ int num_cols_;
+ int num_nonzeros_;
+ int max_num_nonzeros_;
+ std::unique_ptr<double[]> values_;
+ std::unique_ptr<CompressedRowBlockStructure> block_structure_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_