internal/ceres/block_structure.h

// 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)
//
// 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_