Death to BlockSparseMatrixBase
Change-Id: I13b2b951297ae81bfab0a7b4991a791ed91d594c
diff --git a/internal/ceres/schur_eliminator_impl.h b/internal/ceres/schur_eliminator_impl.h
index 835f879..f072c88 100644
--- a/internal/ceres/schur_eliminator_impl.h
+++ b/internal/ceres/schur_eliminator_impl.h
@@ -168,7 +168,7 @@
template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
void
SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
-Eliminate(const BlockSparseMatrixBase* A,
+Eliminate(const BlockSparseMatrix* A,
const double* b,
const double* D,
BlockRandomAccessMatrix* lhs,
@@ -299,7 +299,7 @@
template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
void
SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
-BackSubstitute(const BlockSparseMatrixBase* A,
+BackSubstitute(const BlockSparseMatrix* A,
const double* b,
const double* D,
const double* z,
@@ -324,9 +324,9 @@
ete.setZero();
}
+ const double* values = A->values();
for (int j = 0; j < chunk.size; ++j) {
const CompressedRow& row = bs->rows[chunk.start + j];
- const double* row_values = A->RowBlockValues(chunk.start + j);
const Cell& e_cell = row.cells.front();
DCHECK_EQ(e_block_id, e_cell.block_id);
@@ -342,20 +342,20 @@
const int r_block = f_block_id - num_eliminate_blocks_;
MatrixVectorMultiply<kRowBlockSize, kFBlockSize, -1>(
- row_values + row.cells[c].position, row.block.size, f_block_size,
+ values + row.cells[c].position, row.block.size, f_block_size,
z + lhs_row_layout_[r_block],
sj.get());
}
MatrixTransposeVectorMultiply<kRowBlockSize, kEBlockSize, 1>(
- row_values + e_cell.position, row.block.size, e_block_size,
+ values + e_cell.position, row.block.size, e_block_size,
sj.get(),
y_ptr);
MatrixTransposeMatrixMultiply
<kRowBlockSize, kEBlockSize, kRowBlockSize, kEBlockSize, 1>(
- row_values + e_cell.position, row.block.size, e_block_size,
- row_values + e_cell.position, row.block.size, e_block_size,
+ values + e_cell.position, row.block.size, e_block_size,
+ values + e_cell.position, row.block.size, e_block_size,
ete.data(), 0, 0, e_block_size, e_block_size);
}
@@ -370,7 +370,7 @@
void
SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
UpdateRhs(const Chunk& chunk,
- const BlockSparseMatrixBase* A,
+ const BlockSparseMatrix* A,
const double* b,
int row_block_counter,
const double* inverse_ete_g,
@@ -380,9 +380,9 @@
const int e_block_size = bs->cols[e_block_id].size;
int b_pos = bs->rows[row_block_counter].block.position;
+ const double* values = A->values();
for (int j = 0; j < chunk.size; ++j) {
const CompressedRow& row = bs->rows[row_block_counter + j];
- const double *row_values = A->RowBlockValues(row_block_counter + j);
const Cell& e_cell = row.cells.front();
typename EigenTypes<kRowBlockSize>::Vector sj =
@@ -390,7 +390,7 @@
(b + b_pos, row.block.size);
MatrixVectorMultiply<kRowBlockSize, kEBlockSize, -1>(
- row_values + e_cell.position, row.block.size, e_block_size,
+ values + e_cell.position, row.block.size, e_block_size,
inverse_ete_g, sj.data());
for (int c = 1; c < row.cells.size(); ++c) {
@@ -399,7 +399,7 @@
const int block = block_id - num_eliminate_blocks_;
CeresMutexLock l(rhs_locks_[block]);
MatrixTransposeVectorMultiply<kRowBlockSize, kFBlockSize, 1>(
- row_values + row.cells[c].position,
+ values + row.cells[c].position,
row.block.size, block_size,
sj.data(), rhs + lhs_row_layout_[block]);
}
@@ -431,7 +431,7 @@
SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
ChunkDiagonalBlockAndGradient(
const Chunk& chunk,
- const BlockSparseMatrixBase* A,
+ const BlockSparseMatrix* A,
const double* b,
int row_block_counter,
typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix* ete,
@@ -447,9 +447,9 @@
// contribution of its F blocks to the Schur complement, the
// contribution of its E block to the matrix EE' (ete), and the
// corresponding block in the gradient vector.
+ const double* values = A->values();
for (int j = 0; j < chunk.size; ++j) {
const CompressedRow& row = bs->rows[row_block_counter + j];
- const double *row_values = A->RowBlockValues(row_block_counter + j);
if (row.cells.size() > 1) {
EBlockRowOuterProduct(A, row_block_counter + j, lhs);
@@ -459,13 +459,13 @@
const Cell& e_cell = row.cells.front();
MatrixTransposeMatrixMultiply
<kRowBlockSize, kEBlockSize, kRowBlockSize, kEBlockSize, 1>(
- row_values + e_cell.position, row.block.size, e_block_size,
- row_values + e_cell.position, row.block.size, e_block_size,
+ values + e_cell.position, row.block.size, e_block_size,
+ values + e_cell.position, row.block.size, e_block_size,
ete->data(), 0, 0, e_block_size, e_block_size);
// g += E_i' b_i
MatrixTransposeVectorMultiply<kRowBlockSize, kEBlockSize, 1>(
- row_values + e_cell.position, row.block.size, e_block_size,
+ values + e_cell.position, row.block.size, e_block_size,
b + b_pos,
g);
@@ -479,8 +479,8 @@
buffer + FindOrDie(chunk.buffer_layout, f_block_id);
MatrixTransposeMatrixMultiply
<kRowBlockSize, kEBlockSize, kRowBlockSize, kFBlockSize, 1>(
- row_values + e_cell.position, row.block.size, e_block_size,
- row_values + row.cells[c].position, row.block.size, f_block_size,
+ values + e_cell.position, row.block.size, e_block_size,
+ values + row.cells[c].position, row.block.size, f_block_size,
buffer_ptr, 0, 0, e_block_size, f_block_size);
}
b_pos += row.block.size;
@@ -551,21 +551,21 @@
template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
void
SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
-NoEBlockRowsUpdate(const BlockSparseMatrixBase* A,
+NoEBlockRowsUpdate(const BlockSparseMatrix* A,
const double* b,
int row_block_counter,
BlockRandomAccessMatrix* lhs,
double* rhs) {
const CompressedRowBlockStructure* bs = A->block_structure();
+ const double* values = A->values();
for (; row_block_counter < bs->rows.size(); ++row_block_counter) {
const CompressedRow& row = bs->rows[row_block_counter];
- const double *row_values = A->RowBlockValues(row_block_counter);
for (int c = 0; c < row.cells.size(); ++c) {
const int block_id = row.cells[c].block_id;
const int block_size = bs->cols[block_id].size;
const int block = block_id - num_eliminate_blocks_;
MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
- row_values + row.cells[c].position, row.block.size, block_size,
+ values + row.cells[c].position, row.block.size, block_size,
b + row.block.position,
rhs + lhs_row_layout_[block]);
}
@@ -591,12 +591,12 @@
template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
void
SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
-NoEBlockRowOuterProduct(const BlockSparseMatrixBase* A,
+NoEBlockRowOuterProduct(const BlockSparseMatrix* A,
int row_block_index,
BlockRandomAccessMatrix* lhs) {
const CompressedRowBlockStructure* bs = A->block_structure();
const CompressedRow& row = bs->rows[row_block_index];
- const double *row_values = A->RowBlockValues(row_block_index);
+ const double* values = A->values();
for (int i = 0; i < row.cells.size(); ++i) {
const int block1 = row.cells[i].block_id - num_eliminate_blocks_;
DCHECK_GE(block1, 0);
@@ -612,8 +612,8 @@
// symmetric outer product.
MatrixTransposeMatrixMultiply
<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 1>(
- row_values + row.cells[i].position, row.block.size, block1_size,
- row_values + row.cells[i].position, row.block.size, block1_size,
+ values + row.cells[i].position, row.block.size, block1_size,
+ values + row.cells[i].position, row.block.size, block1_size,
cell_info->values, r, c, row_stride, col_stride);
}
@@ -630,8 +630,8 @@
CeresMutexLock l(&cell_info->m);
MatrixTransposeMatrixMultiply
<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 1>(
- row_values + row.cells[i].position, row.block.size, block1_size,
- row_values + row.cells[j].position, row.block.size, block2_size,
+ values + row.cells[i].position, row.block.size, block1_size,
+ values + row.cells[j].position, row.block.size, block2_size,
cell_info->values, r, c, row_stride, col_stride);
}
}
@@ -644,12 +644,12 @@
template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
void
SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
-EBlockRowOuterProduct(const BlockSparseMatrixBase* A,
+EBlockRowOuterProduct(const BlockSparseMatrix* A,
int row_block_index,
BlockRandomAccessMatrix* lhs) {
const CompressedRowBlockStructure* bs = A->block_structure();
const CompressedRow& row = bs->rows[row_block_index];
- const double *row_values = A->RowBlockValues(row_block_index);
+ const double* values = A->values();
for (int i = 1; i < row.cells.size(); ++i) {
const int block1 = row.cells[i].block_id - num_eliminate_blocks_;
DCHECK_GE(block1, 0);
@@ -664,8 +664,8 @@
// block += b1.transpose() * b1;
MatrixTransposeMatrixMultiply
<kRowBlockSize, kFBlockSize, kRowBlockSize, kFBlockSize, 1>(
- row_values + row.cells[i].position, row.block.size, block1_size,
- row_values + row.cells[i].position, row.block.size, block1_size,
+ values + row.cells[i].position, row.block.size, block1_size,
+ values + row.cells[i].position, row.block.size, block1_size,
cell_info->values, r, c, row_stride, col_stride);
}
@@ -683,8 +683,8 @@
CeresMutexLock l(&cell_info->m);
MatrixTransposeMatrixMultiply
<kRowBlockSize, kFBlockSize, kRowBlockSize, kFBlockSize, 1>(
- row_values + row.cells[i].position, row.block.size, block1_size,
- row_values + row.cells[j].position, row.block.size, block2_size,
+ values + row.cells[i].position, row.block.size, block1_size,
+ values + row.cells[j].position, row.block.size, block2_size,
cell_info->values, r, c, row_stride, col_stride);
}
}
