78 lines
2.4 KiB
C++
78 lines
2.4 KiB
C++
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/**
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* @file SparseMatrixHelper.hpp
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* @author Giulio Romualdi
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* @copyright Released under the terms of the BSD 3-Clause License
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* @date 2018
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*/
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#ifndef SPARSE_MATRIX_HPP
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#define SPARSE_MATRIX_HPP
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// std
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#include <iostream>
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// eigen
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#include <Eigen/Sparse>
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#include <OsqpEigen/Compat.hpp>
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/**
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* OsqpEigen namespace.
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*/
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namespace OsqpEigen
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{
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/**
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* SparseMatrixHelper namespace is a namespace that contains helper function to handle osqp matrix.
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* Use it to create to update or manage an osqp sparse matrix.
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* osqp sparse matrix in [compressed-column](https://people.sc.fsu.edu/~jburkardt/data/cc/cc.html)
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* or triplet form.
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*/
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namespace SparseMatrixHelper
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{
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/**
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* Allocate an osqpSparseMatrix struct.
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* NOTE: <code>c_malloc</code> function is used to allocate memory please call
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* <code>c_free</code> to deallcate memory.
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* @return a const point to the csc struct.
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*/
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template <typename Derived>
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bool createOsqpSparseMatrix(const Eigen::SparseCompressedBase<Derived>& eigenSparseMatrix,
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csc*& osqpSparseMatrix);
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/**
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* Convert an osqp sparse matrix into an eigen sparse matrix.
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* @param osqpSparseMatrix is a constant pointer to a constant csc struct;
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* @param eigenSparseMatrix is the eigen sparse matrix object.
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* @return a const point to the csc struct.
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*/
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template <typename T>
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bool osqpSparseMatrixToEigenSparseMatrix(const csc* const& osqpSparseMatrix,
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Eigen::SparseMatrix<T>& eigenSparseMatrix);
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/**
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* Convert an osqp sparse matrix into a eigen triplet list.
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* @param osqpSparseMatrix is reference to a constant pointer to a constant csc struct;
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* @param tripletList is a std::vector containing the triplet.
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* @return a const point to the csc struct.
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*/
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template <typename T>
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bool osqpSparseMatrixToTriplets(const csc* const& osqpSparseMatrix,
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std::vector<Eigen::Triplet<T>>& tripletList);
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/**
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* Convert an eigen sparse matrix into a eigen triplet list.
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* @param eigenSparseMatrix is the eigen sparse matrix object;
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* @param tripletList is a std::vector containing the triplet.
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* @return a const point to the csc struct.
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*/
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template <typename Derived, typename T>
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bool eigenSparseMatrixToTriplets(const Eigen::SparseCompressedBase<Derived>& eigenSparseMatrix,
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std::vector<Eigen::Triplet<T>>& tripletList);
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}; // namespace SparseMatrixHelper
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} // namespace OsqpEigen
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#include <OsqpEigen/SparseMatrixHelper.tpp>
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#endif
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