sparse_helper.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
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#ifndef G2O_SPARSE_HELPER_H
#define G2O_SPARSE_HELPER_H
 
#include <string>
 
#include "g2o/config.h"
#include "g2o_stuff_api.h"
 
namespace g2o {
 
struct TripletEntry {
  int r, c;
  double x;
  TripletEntry(int r_, int c_, double x_) : r(r_), c(c_), x(x_) {}
};
struct TripletColSort {
  bool operator()(const TripletEntry& e1, const TripletEntry& e2) const {
    return e1.c < e2.c || (e1.c == e2.c && e1.r < e2.r);
  }
};
 
G2O_STUFF_API bool writeVector(const std::string& filename, const double* v,
                               int n);
 
G2O_STUFF_API bool writeCCSMatrix(const std::string& filename, int rows,
                                  int cols, const int* p, const int* i,
                                  const double* v,
                                  bool upperTriangleSymmetric = true);
 
G2O_STUFF_API bool writeTripletMatrix(const std::string& filename, int nz,
                                      int rows, int cols, const int* Ai,
                                      const int* Aj, const double* Ax,
                                      bool upperTriangleSymmetric = true);
 
}  // namespace g2o
 
#endif