Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/dense_sparse_matrix.h

// Ceres Solver - A fast non-linear least squares minimizer
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// 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 "ceres/internal/disable_warnings.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/export.h"
#include "ceres/sparse_matrix.h"
#include "ceres/types.h"

namespace ceres::internal {

class TripletSparseMatrix;

class CERES_NO_EXPORT DenseSparseMatrix final : 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(Matrix m);
  DenseSparseMatrix(int num_rows, int num_cols);

  // SparseMatrix interface.
  void SetZero() final;
  void RightMultiplyAndAccumulate(const double* x, double* y) const final;
  void LeftMultiplyAndAccumulate(const double* x, double* y) const final;
  void SquaredColumnNorm(double* x) const final;
  void ScaleColumns(const double* scale) final;
  void ToDenseMatrix(Matrix* dense_matrix) const final;
  void ToTextFile(FILE* file) const final;
  int num_rows() const final;
  int num_cols() const final;
  int num_nonzeros() const final;
  const double* values() const final { return m_.data(); }
  double* mutable_values() final { return m_.data(); }

  const Matrix& matrix() const;
  Matrix* mutable_matrix();

 private:
  Matrix m_;
};

}  // namespace ceres::internal

#include "ceres/internal/reenable_warnings.h"

#endif  // CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_