Initial commit of Ceres Solver.
diff --git a/internal/ceres/dense_sparse_matrix.h b/internal/ceres/dense_sparse_matrix.h
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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
+// 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: keir@google.com (Keir Mierle)
+//
+// A dense matrix implemented under the SparseMatrix interface.
+
+#ifndef CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
+
+#include <glog/logging.h>
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class SparseMatrixProto;
+class TripletSparseMatrix;
+
+class DenseSparseMatrix : public SparseMatrix {
+ public:
+ // Build a matrix with the same content as the TripletSparseMatrix
+ // m. This assumes that m does not have any repeated entries.
+ explicit DenseSparseMatrix(const TripletSparseMatrix& m);
+ explicit DenseSparseMatrix(const Matrix& m);
+#ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
+ explicit DenseSparseMatrix(const SparseMatrixProto& proto);
+#endif
+
+ DenseSparseMatrix(int num_rows, int num_cols);
+
+ virtual ~DenseSparseMatrix() {}
+
+ // 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;
+#ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
+ virtual void ToProto(SparseMatrixProto* proto) const;
+#endif
+ virtual int num_rows() const;
+ virtual int num_cols() const;
+ virtual int num_nonzeros() const;
+ virtual const double* values() const { return m_.data(); }
+ virtual double* mutable_values() { return m_.data(); }
+
+ ConstAlignedMatrixRef matrix() const;
+ AlignedMatrixRef mutable_matrix();
+
+ // Only one diagonal can be appended at a time. The diagonal is appended to
+ // as a new set of rows, e.g.
+ //
+ // Original matrix:
+ //
+ // x x x
+ // x x x
+ // x x x
+ //
+ // After append diagonal (1, 2, 3):
+ //
+ // x x x
+ // x x x
+ // x x x
+ // 1 0 0
+ // 0 2 0
+ // 0 0 3
+ //
+ // Calling RemoveDiagonal removes the block. It is a fatal error to append a
+ // diagonal to a matrix that already has an appended diagonal, and it is also
+ // a fatal error to remove a diagonal from a matrix that has none.
+ void AppendDiagonal(double *d);
+ void RemoveDiagonal();
+
+ private:
+ Matrix m_;
+ bool has_diagonal_appended_;
+ bool has_diagonal_reserved_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
