CSparseMatrixTemplate.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CSparseMatrixTemplate_H
#define CSparseMatrixTemplate_H
 
#include <mrpt/utils/utils_defs.h>
#include <map>
 
namespace mrpt
{
namespace math
{
/** A sparse matrix container (with cells of any type), with iterators.
  *  This class stores only those elements created by assigning them a value,
 * for example: "M(2,3)=8;".
  *
  *  This class doesn't implement math operations since it's a generic sparse
 * container, but it can be
  *   used to initialize the contents of a CSparse library-based matrix of type
 * mrpt::math::CSparseMatrix.
  *
  *  Note that reading non-existing cell elements will return the default value
 * (0 for numbers)
  *   and that cell will remain non-created in the matrix.
  *
  *  There is an additional method "exists(i,j)" to check whether a given
 * element exists in the matrix.
  *
  *  \sa mrpt::math::MatrixBlockSparseCols, mrpt::math::CSparseMatrix,
 * CSparseSymmetricalMatrix
  *  \note Methods marked as "Doesn't check bounds" mean that if an access to an
 * element out of the matrix size is tried, an empty element will be assumed,
 * but this will not raise any invalid memory access.
  * \ingroup mrpt_base_grp
  */
template <class T>
class CSparseMatrixTemplate
{
        // Public typedefs
   public:
        /**
          * Internal map type, used to store the actual matrix.
          */
        typedef typename std::map<std::pair<size_t, size_t>, T> SparseMatrixMap;
        /**
          * Const iterator to move through the matrix.
          * \sa CSparseMatrixTemplate::const_reverse_iterator
          */
        typedef typename SparseMatrixMap::const_iterator const_iterator;
        /**
          * Const reverse iterator to move through the matrix.
          * \sa CSparseMatrixTemplate::const_iterator
          */
        typedef
                typename SparseMatrixMap::const_reverse_iterator const_reverse_iterator;
 
   protected:
        /**
          * Size of the matrix.
          */
        size_t mRows, mColumns;
        /**
          * Actual matrix.
          */
        SparseMatrixMap objectList;
 
   public:
        /**
          * Basic constructor with no data. Size is set to (0,0).
          */
        CSparseMatrixTemplate() : mRows(0), mColumns(0) {}
        /**
          * Constructor with default size.
          */
        CSparseMatrixTemplate(size_t nR, size_t nC) : mRows(nR), mColumns(nC) {}
        /**
          * Element access operator. Doesn't check bounds.
          */
        inline T operator()(size_t r, size_t c) const
        {
                const_iterator it = objectList.find(std::make_pair(r, c));
                if (it == objectList.end())
                        return T();
                else
                        return it->second;
        }
 
        /** Element access operator. Checks bounds.
          */
        inline bool exists(size_t r, size_t c) const
        {
#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG_MATRICES)
                if (r >= mRows || c >= mColumns) throw std::logic_error("Out of range");
#endif
                return (objectList.find(std::make_pair(r, c)) != objectList.end());
        }
 
        /**
          * Reference access operator. Checks for bounds.
          */
        inline T& operator()(size_t r, size_t c)
        {  //-V659
#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG_MATRICES)
                if (r >= mRows || c >= mColumns) throw std::logic_error("Out of range");
#endif
                return objectList[std::make_pair(r, c)];
        }
        /**
          * Returns the amount of rows in this matrix.
          * \sa getColCount,getRow
          */
        inline size_t getRowCount() const { return mRows; }
        /**
          * Returns the amount of columns in this matrix.
          * \sa getRowCount
          */
        inline size_t getColCount() const { return mColumns; }
        /**
          * Extracts a full row from the matrix.
          * \sa getRowCount,getColumn,setRow
          * \throw std::logic_error on out of range.
          */
        void getRow(size_t nRow, std::vector<T>& vec) const
        {
#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG_MATRICES)
                if (nRow >= mRows) throw std::logic_error("Out of range");
#endif
                vec.resize(mColumns);
                size_t nextIndex = 0;
                for (typename SparseMatrixMap::const_iterator it = objectList.begin();
                         it != objectList.end(); ++it)
                {
                        const std::pair<size_t, size_t>& index = it->first;
                        if (index.first < nRow)
                                continue;
                        else if (index.first == nRow)
                        {
                                for (size_t i = nextIndex; i < index.second; i++) vec[i] = T();
                                vec[index.second] = it->second;
                                nextIndex = index.second + 1;
                        }
                        else
                        {
                                for (size_t i = nextIndex; i < mColumns; i++) vec[i] = T();
                                break;
                        }
                }
        }
        /**
          * Extracts a full column from the matrix.
          * \sa getColCount,getRow,setColumn
          * \throw std::logic_error on out of range.
          */
        void getColumn(size_t nCol, std::vector<T>& vec) const
        {
#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG_MATRICES)
                if (nCol >= mColumns) throw std::logic_error("Out of range");
#endif
                vec.resize(mRows);
                size_t nextIndex = 0;
                for (typename SparseMatrixMap::const_iterator it = objectList.begin();
                         it != objectList.end(); ++it)
                {
                        const std::pair<size_t, size_t>& index = it->first;
                        if (index.second == nCol)
                        {
                                for (size_t i = nextIndex; i < index.first; i++) vec[i] = T();
                                vec[index.first] = it->second;
                                nextIndex = index.first + 1;
                        }
                }
                for (size_t i = nextIndex; i < mRows; i++) vec[i] = T();
        }
        /**
          * Inserts an element into the matrix.
          * \sa operator()(size_t,size_t)
          */
        inline void insert(size_t row, size_t column, const T& obj)
        {
                operator()(row, column) = obj;
        }
 
        /** Inserts submatrix at a given location */
        template <class MATRIX_LIKE>
        inline void insertMatrix(size_t row, size_t column, const MATRIX_LIKE& mat)
        {
                for (size_t nr = 0; nr < mat.getRowCount(); nr++)
                        for (size_t nc = 0; nc < mat.getColCount(); nc++)
                                operator()(row + nr, column + nc) = mat(nr, nc);
        }
 
        // Public interface only supports const iterators. This way, no user of this
        // class will be able to freely modify it contents.
        /**
          * Returns an iterator which points to the starting point of the matrix.
         * It's a const_iterator, so that the usar isn't able to modify the matrix
         * content into an invalid state.
          * \sa end,rbegin,rend
          */
        inline const_iterator begin() const { return objectList.begin(); }
        /**
          * Returns an iterator which points to the end of the matrix. It's a
         * const_iterator, so that the usar isn't able to modify the matrix content
         * into an invalid state.
          * \sa begin,rbegin,rend
          */
        inline const_iterator end() const { return objectList.end(); }
        /**
          * Returns an iterator which points to the end of the matrix, and can be
         * used to move backwards. It's a const_reverse_iterator, so that the usar
         * isn't able to modify the matrix content into an invalid state.
          * \sa begin,end,rend
          */
        inline const_reverse_iterator rbegin() const { return objectList.rbegin(); }
        /**
          * Returns an iterator which points to the starting point of the matrix,
         * although it's the upper limit of the matrix since it's a reverse
         * iterator. Also, it's a const_reverse_iterator, so that the usar isn't
         * able to modify the matrix content into an invalid state.
          * \sa begin,end,rbegin
          */
        inline const_reverse_iterator rend() const { return objectList.rend(); }
        /**
          * Inserts a full row into the matrix. The third argument is used to
         * specify a null object (which won't be inserted, since the matrix is
         * sparse).
          * \sa getRow
          * \throw std::logic_error on out of range or wrong sized vector.
          */
        void setRow(
                size_t nRow, const std::vector<T>& vec, const T& nullObject = T())
        {
#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG_MATRICES)
                if (nRow >= mRows) throw std::logic_error("Out of range");
#endif
                size_t N = vec.size();
                if (N != mColumns) throw std::logic_error("Wrong-sized vector");
                for (size_t i = 0; i < N; i++)
                {
                        const T& obj = vec[i];
                        std::pair<size_t, size_t> index = std::make_pair(nRow, i);
                        if (obj == nullObject)
                                objectList.erase(index);
                        else
                                objectList[index] = obj;
                }
        }
        /**
          * Inserts a full column into the matrix. The third argument is used to
         * specify a null object (which won't be inserted, since the matrix is
         * sparse).
          * \sa getColumn
          * \throw std::logic_error on out of range or wrong sized vector.
          */
        void setColumn(
                size_t nCol, const std::vector<T>& vec, const T& nullObject = T())
        {
#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG_MATRICES)
                if (nCol >= mColumns) throw std::logic_error("Out of range");
#endif
                size_t N = vec.size();
                if (N != mRows) throw std::logic_error("Wrong-sized vector");
                for (size_t i = 0; i < N; i++)
                {
                        const T& obj = vec[i];
                        std::pair<size_t, size_t> index = std::make_pair(i, nCol);
                        if (obj == nullObject)
                                objectList.erase(index);
                        else
                                objectList[index] = obj;
                }
        }
        /**
          * Changes the size of the matrix.
          */
        void resize(size_t nRows, size_t nCols)
        {
                // if (mRows<0||mColumns<0) throw std::logic_error("Invalid range"); //
                // This case never happens!
                if (mRows == nRows && mColumns == nCols) return;
                mRows = nRows;
                mColumns = nCols;
                std::vector<std::pair<size_t, size_t>> toErase;
                for (const_iterator it = objectList.begin(); it != objectList.end();
                         ++it)
                {
                        const std::pair<size_t, size_t>& i = it->first;
                        if (i.first >= nRows || i.second >= nCols)
                                toErase.push_back(it->first);
                }
                for (std::vector<std::pair<size_t, size_t>>::const_iterator it =
                                 toErase.begin();
                         it != toErase.end(); ++it)
                        objectList.erase(*it);
        }
        /**
          * Extracts a submatrix form the matrix.
          * \sa operator()(size_t,size_t)
          * \throw std::logic_error on invalid bounds.
          */
        CSparseMatrixTemplate<T> operator()(
                size_t firstRow, size_t lastRow, size_t firstColumn,
                size_t lastColumn) const
        {
#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG_MATRICES)
                if (lastRow >= mRows || lastColumn >= mColumns)
                        throw std::logic_error("Out of range");
                if (firstRow > lastRow || firstColumn > lastColumn)
                        throw std::logic_error("Invalid size");
#endif
                CSparseMatrixTemplate<T> res = CSparseMatrixTemplate<T>(
                        lastRow + 1 - firstRow, lastColumn + 1 - firstColumn);
                for (typename SparseMatrixMap::const_iterator it = begin(); it != end();
                         ++it)
                {
                        const std::pair<size_t, size_t>& i = it->first;
                        if (i.first >= firstRow && i.first <= lastRow &&
                                i.second >= firstColumn && i.second <= lastColumn)
                                res(i.first - firstRow, i.second - firstColumn) = it->second;
                }
                return res;
        }
        /**
          * Gets a vector containing all the elements of the matrix, ignoring their
         * position.
          */
        void getAsVector(std::vector<T>& vec) const
        {
                size_t N = objectList.size();
                vec.resize(0);
                vec.reserve(N);
                for (const_iterator it = objectList.begin(); it != objectList.end();
                         ++it)
                        vec.push_back(it->second);
        }
        /**
          * Gets the amount of non-null elements inside the matrix.
          * \sa getNullElements,isNull,isNotNull
          */
        inline size_t getNonNullElements() const { return objectList.size(); }
        /** Are there no elements set to !=0 ?
          * \sa getNullElements,isNull,isNotNull
          */
        inline bool empty() const { return objectList.empty(); }
        /**
          * Gets the amount of null elements inside the matrix.
          * \sa getNonNullElements,isNull,isNotNull
          */
        inline size_t getNullElements() const
        {
                return mRows * mColumns - getNonNullElements();
        }
        /**
          * Checks whether an element of the matrix is the default object.
          * \sa getNonNullElements,getNullElements,isNotNull
          * \throw std::logic_error on out of range
          */
        inline bool isNull(size_t nRow, size_t nCol) const
        {
                if (nRow >= mRows || nCol >= mColumns)
                        throw std::logic_error("Out of range");
                return objectList.count(std::make_pair(nRow, nCol)) == 0;
        }
        /**
          * Checks whether an element of the matrix is not the default object.
          * \sa getNonNullElements,getNullElements,isNull
          */
        inline bool isNotNull(size_t nRow, size_t nCol) const
        {
                if (nRow >= mRows || nCol >= mColumns)
                        throw std::logic_error("Out of range");
                return objectList.count(std::make_pair(nRow, nCol)) > 0;
        }
        /**
          * Completely removes all elements, although maintaining the matrix's size.
          */
        inline void clear() { objectList.clear(); }
        /**
          * Checks each non-null elements against the basic objects, erasing
         * unnecesary references to it.
          */
        void purge(T nullObject = T())
        {
                std::vector<std::pair<size_t, size_t>> nulls;
                for (const_iterator it = begin(); it != end(); ++it)
                        if (it->second == nullObject) nulls.push_back(it->first);
                for (std::vector<std::pair<size_t, size_t>>::const_iterator it =
                                 nulls.begin();
                         it != nulls.end(); ++it)
                        objectList.erase(*it);
        }
};  // end of sparse matrix
 
/** A sparse matrix container for square symmetrical content around the main
 * diagonal.
  *  This class saves half of the space with respect to CSparseMatrixTemplate
 * since only those entries (c,r) such as c>=r are really stored,
  *   but both (c,r) and (r,c) can be retrieved or set and both redirect to the
 * same internal cell container.
  *  \sa CSparseMatrixTemplate
  */
template <class T>
class CSparseSymmetricalMatrix : public CSparseMatrixTemplate<T>
{
   public:
        CSparseSymmetricalMatrix() : CSparseMatrixTemplate<T>() {}
        explicit CSparseSymmetricalMatrix(const CSparseSymmetricalMatrix& o)
                : CSparseMatrixTemplate<T>(o)
        {
        }
        explicit CSparseSymmetricalMatrix(const CSparseMatrixTemplate<T>& o)
                : CSparseMatrixTemplate<T>(o)
        {
        }
        virtual ~CSparseSymmetricalMatrix() {}
        void resize(size_t matrixSize)
        {
                CSparseMatrixTemplate<T>::resize(matrixSize, matrixSize);
        }
 
        inline T operator()(size_t r, size_t c) const
        {
                if (c < r) std::swap(r, c);  // Symmetrical matrix
                typename CSparseMatrixTemplate<T>::const_iterator it =
                        CSparseMatrixTemplate<T>::objectList.find(std::make_pair(r, c));
                if (it == CSparseMatrixTemplate<T>::objectList.end())
                        return T();
                else
                        return it->second;
        }
        inline T& operator()(size_t r, size_t c)
        {  //-V659
                if (c < r) std::swap(r, c);  // Symmetrical matrix
                if (r >= CSparseMatrixTemplate<T>::mRows ||
                        c >= CSparseMatrixTemplate<T>::mColumns)
                        throw std::logic_error("Out of range");
                return CSparseMatrixTemplate<T>::objectList[std::make_pair(r, c)];
        }
 
};  // end of CSparseSymmetricalMatrix
}
}
#endif