csparse_helper.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// 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.
//
// 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
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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#include "csparse_helper.h"
 
#include "g2o/stuff/sparse_helper.h"
 
using namespace std;
 
namespace g2o {
namespace csparse_extension {
 
bool writeCs2Octave(const char* filename, const cs* A, bool upperTriangular) {
  int cols = A->n;
  int rows = A->m;
 
  if (A->nz == -1) {  // CCS matrix
    const int* Ap = A->p;
    const int* Ai = A->i;
    const double* Ax = A->x;
    return writeCCSMatrix(filename, rows, cols, Ap, Ai, Ax, upperTriangular);
  } else {  // Triplet matrix
    const int* Aj = A->p;
    const int* Ai = A->i;
    const double* Ax = A->x;
    return writeTripletMatrix(filename, A->nz, rows, cols, Ai, Aj, Ax,
                              upperTriangular);
  }
}
 
}  // namespace csparse_extension
}  // namespace g2o