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      1 // Ceres Solver - A fast non-linear least squares minimizer
      2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
      3 // http://code.google.com/p/ceres-solver/
      4 //
      5 // Redistribution and use in source and binary forms, with or without
      6 // modification, are permitted provided that the following conditions are met:
      7 //
      8 // * Redistributions of source code must retain the above copyright notice,
      9 //   this list of conditions and the following disclaimer.
     10 // * Redistributions in binary form must reproduce the above copyright notice,
     11 //   this list of conditions and the following disclaimer in the documentation
     12 //   and/or other materials provided with the distribution.
     13 // * Neither the name of Google Inc. nor the names of its contributors may be
     14 //   used to endorse or promote products derived from this software without
     15 //   specific prior written permission.
     16 //
     17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
     18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
     19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
     20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
     21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
     22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
     23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
     24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
     25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
     26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
     27 // POSSIBILITY OF SUCH DAMAGE.
     28 //
     29 // Author: sameeragarwal (at) google.com (Sameer Agarwal)
     30 
     31 #include "ceres/block_random_access_dense_matrix.h"
     32 
     33 #include <vector>
     34 #include "ceres/internal/eigen.h"
     35 #include "ceres/internal/scoped_ptr.h"
     36 #include "glog/logging.h"
     37 
     38 namespace ceres {
     39 namespace internal {
     40 
     41 BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix(
     42     const vector<int>& blocks) {
     43   block_layout_.resize(blocks.size(), 0);
     44   num_rows_ = 0;
     45   for (int i = 0; i < blocks.size(); ++i) {
     46     block_layout_[i] = num_rows_;
     47     num_rows_ += blocks[i];
     48   }
     49 
     50   values_.reset(new double[num_rows_ * num_rows_]);
     51   CHECK_NOTNULL(values_.get());
     52   cell_info_.values = values_.get();
     53   SetZero();
     54 }
     55 
     56 // Assume that the user does not hold any locks on any cell blocks
     57 // when they are calling SetZero.
     58 BlockRandomAccessDenseMatrix::~BlockRandomAccessDenseMatrix() {
     59 }
     60 
     61 CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id,
     62                                                 const int col_block_id,
     63                                                 int* row,
     64                                                 int* col,
     65                                                 int* row_stride,
     66                                                 int* col_stride) {
     67   *row = block_layout_[row_block_id];
     68   *col = block_layout_[col_block_id];
     69   *row_stride = num_rows_;
     70   *col_stride = num_rows_;
     71   return &cell_info_;
     72 }
     73 
     74 // Assume that the user does not hold any locks on any cell blocks
     75 // when they are calling SetZero.
     76 void BlockRandomAccessDenseMatrix::SetZero() {
     77   if (num_rows_) {
     78     VectorRef(values_.get(), num_rows_ * num_rows_).setZero();
     79   }
     80 }
     81 
     82 }  // namespace internal
     83 }  // namespace ceres
     84