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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#ifndef G2O_MATRIX_STRUCTURE_H
#define G2O_MATRIX_STRUCTURE_H

#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(const char* filename) const;

    int n;    
    int m;    
    int* Ap;  
    int* Aii; 

    int nzMax() const { return maxNz;}

  protected:
    int maxN;     
    int maxNz;    
};

} // end namespace

#endif