matrix_structure.h

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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
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// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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#ifndef G2O_MATRIX_STRUCTURE_H
#define G2O_MATRIX_STRUCTURE_H
 
#include <string_view>
 
#include "g2o_core_api.h"
 
namespace g2o {

class G2O_CORE_API MatrixStructure {
 public:
  MatrixStructure();
  ~MatrixStructure();
  void alloc(int n_, int nz);
 
  void free();

  bool write(std::string_view filename) const;
 
  int n;     
  int m;     
  int* Ap;   
  int* Aii;  

  int nzMax() const { return maxNz; }
 
 protected:
  int maxN;   
  int maxNz;  
};
 
}  // namespace g2o
 
#endif