env/ceres-solver/internal/ceres/block_random_access_diagonal_matrix.h

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_

#include <memory>
#include <utility>
#include <vector>

#include "ceres/block_random_access_matrix.h"
#include "ceres/block_structure.h"
#include "ceres/compressed_row_sparse_matrix.h"
#include "ceres/context_impl.h"
#include "ceres/internal/disable_warnings.h"
#include "ceres/internal/export.h"
#include "ceres/types.h"

namespace ceres::internal {

// A BlockRandomAccessMatrix which only stores the block diagonal.
// BlockRandomAccessSparseMatrix can also be used to do this, but this class is
// more efficient in time and in space.
class CERES_NO_EXPORT BlockRandomAccessDiagonalMatrix
    : public BlockRandomAccessMatrix {
 public:
  // blocks is an array of block sizes.
  BlockRandomAccessDiagonalMatrix(const std::vector<Block>& blocks,
                                  ContextImpl* context,
                                  int num_threads);
  ~BlockRandomAccessDiagonalMatrix() override = default;

  // BlockRandomAccessMatrix Interface.
  CellInfo* GetCell(int row_block_id,
                    int col_block_id,
                    int* row,
                    int* col,
                    int* row_stride,
                    int* col_stride) final;

  // m = 0
  void SetZero() final;

  // m = m^{-1}
  void Invert();

  // y += m * x
  void RightMultiplyAndAccumulate(const double* x, double* y) const;

  // Since the matrix is square, num_rows() == num_cols().
  int num_rows() const final { return m_->num_rows(); }
  int num_cols() const final { return m_->num_cols(); }

  const CompressedRowSparseMatrix* matrix() const { return m_.get(); }
  CompressedRowSparseMatrix* mutable_matrix() { return m_.get(); }

 private:
  ContextImpl* context_ = nullptr;
  const int num_threads_ = 1;
  std::unique_ptr<CompressedRowSparseMatrix> m_;
  std::vector<std::unique_ptr<CellInfo>> layout_;
};

}  // namespace ceres::internal

#include "ceres/internal/reenable_warnings.h"

#endif  // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_