jacobian_workspace.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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#ifndef JACOBIAN_WORKSPACE_H
#define JACOBIAN_WORKSPACE_H

#include <Eigen/Core>
#include <Eigen/StdVector>

#include <vector>
#include <cassert>

#include "g2o/config.h"
#include "g2o_core_api.h"
#include "hyper_graph.h"

namespace g2o {

  struct OptimizableGraph;

  class G2O_CORE_API JacobianWorkspace
  {
    public:
      typedef std::vector<VectorXD, Eigen::aligned_allocator<VectorXD> >      WorkspaceVector;

    public:
      JacobianWorkspace();
      ~JacobianWorkspace();

      bool allocate();

      void updateSize(const HyperGraph::Edge* e);

      void updateSize(const OptimizableGraph& graph);

      void updateSize(int numVertices, int dimension);

      double* workspaceForVertex(int vertexIndex)
      {
        assert(vertexIndex >= 0 && (size_t)vertexIndex < _workspace.size() && "Index out of bounds");
        return _workspace[vertexIndex].data();
      }

    protected:
      WorkspaceVector _workspace;   
      int _maxNumVertices;          
      int _maxDimension;            
  };

} // end namespace

#endif