win7下vs2010编译的g2o+eigen3库文件(ReleaseX64+DebugX64)

// // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2012 Desire Nuentsa Wakam <desire.nuentsa_wakam@inria.fr> // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. // This file is modified from the colamd/symamd library. The copyright is below // The authors of the code itself are Stefan I. Larimore and Timothy A. // Davis (davis@cise.ufl.edu), University of Florida. The algorithm was // developed in collaboration with John Gilbert, Xerox PARC, and Esmond // Ng, Oak Ridge National Laboratory. // // Date: // // September 8, 2003. Version 2.3. // // Acknowledgements: // // This work was supported by the National Science Foundation, under // grants DMS-9504974 and DMS-9803599. // // Notice: // // Copyright (c) 1998-2003 by the University of Florida. // All Rights Reserved. // // THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY // EXPRESSED OR IMPLIED. ANY USE IS AT YOUR OWN RISK. // // Permission is hereby granted to use, copy, modify, and/or distribute // this program, provided that the Copyright, this License, and the // Availability of the original version is retained on all copies and made // accessible to the end-user of any code or package that includes COLAMD // or any modified version of COLAMD. // // Availability: // // The colamd/symamd library is available at // // http://www.suitesparse.com #ifndef EIGEN_COLAMD_H #define EIGEN_COLAMD_H namespace internal { /* Ensure that debugging is turned off: */ #ifndef COLAMD_NDEBUG #define COLAMD_NDEBUG #endif /* NDEBUG */ /* ========================================================================== */ /* === Knob and statistics definitions ====================================== */ /* ========================================================================== */ /* size of the knobs [ ] array. Only knobs [0..1] are currently used. */ #define COLAMD_KNOBS 20 /* number of output statistics. Only stats [0..6] are currently used. */ #define COLAMD_STATS 20 /* knobs [0] and stats [0]: dense row knob and output statistic. */ #define COLAMD_DENSE_ROW 0 /* knobs [1] and stats [1]: dense column knob and output statistic. */ #define COLAMD_DENSE_COL 1 /* stats [2]: memory defragmentation count output statistic */ #define COLAMD_DEFRAG_COUNT 2 /* stats [3]: colamd status: zero OK, > 0 warning or notice, < 0 error */ #define COLAMD_STATUS 3 /* stats [4..6]: error info, or info on jumbled columns */ #define COLAMD_INFO1 4 #define COLAMD_INFO2 5 #define COLAMD_INFO3 6 /* error codes returned in stats [3]: */ #define COLAMD_OK (0) #define COLAMD_OK_BUT_JUMBLED (1) #define COLAMD_ERROR_A_not_present (-1) #define COLAMD_ERROR_p_not_present (-2) #define COLAMD_ERROR_nrow_negative (-3) #define COLAMD_ERROR_ncol_negative (-4) #define COLAMD_ERROR_nnz_negative (-5) #define COLAMD_ERROR_p0_nonzero (-6) #define COLAMD_ERROR_A_too_small (-7) #define COLAMD_ERROR_col_length_negative (-8) #define COLAMD_ERROR_row_index_out_of_bounds (-9) #define COLAMD_ERROR_out_of_memory (-10) #define COLAMD_ERROR_internal_error (-999) /* ========================================================================== */ /* === Definitions ========================================================== */ /* ========================================================================== */ #define ONES_COMPLEMENT(r) (-(r)-1) /* -------------------------------------------------------------------------- */ #define COLAMD_EMPTY (-1) /* Row and column status */ #define ALIVE (0) #define DEAD (-1) /* Column status */ #define DEAD_PRINCIPAL (-1) #define DEAD_NON_PRINCIPAL (-2) /* Macros for row and column status update and checking. */ #define ROW_IS_DEAD(r) ROW_IS_MARKED_DEAD (Row[r].shared2.mark) #define ROW_IS_MARKED_DEAD(row_mark) (row_mark < ALIVE) #define ROW_IS_ALIVE(r) (Row [r].shared2.mark >= ALIVE) #define COL_IS_DEAD(c) (Col [c].start < ALIVE) #define COL_IS_ALIVE(c) (Col [c].start >= ALIVE) #define COL_IS_DEAD_PRINCIPAL(c) (Col [c].start == DEAD_PRINCIPAL) #define KILL_ROW(r) { Row [r].shared2.mark = DEAD ; } #define KILL_PRINCIPAL_COL(c) { Col [c].start = DEAD_PRINCIPAL ; } #define KILL_NON_PRINCIPAL_COL(c) { Col [c].start = DEAD_NON_PRINCIPAL ; } /* ========================================================================== */ /* === Colamd reporting mechanism =========================================== */ /* ========================================================================== */ // == Row and Column structures == template <typename Index> struct colamd_col { Index start ; /* index for A of first row in this column, or DEAD */ /* if column is dead */ Index length ; /* number of rows in this column */ union { Index thickness ; /* number of original columns represented by this */ /* col, if the column is alive */ Index parent ; /* parent in parent tree super-column structure, if */ /* the column is dead */ } shared1 ; union { Index score ; /* the score used to maintain heap, if col is alive */ Index order ; /* pivot ordering of this column, if col is dead */ } shared2 ; union { Index headhash ; /* head of a hash bucket, if col is at the head of */ /* a degree list */ Index hash ; /* hash value, if col is not in a degree list */ Index prev ; /* previous column in degree list, if col is in a */ /* degree list (but not at the head of a degree list) */ } shared3 ; union { Index degree_next ; /* next column, if col is in a degree list */ Index hash_next ; /* next column, if col is in a hash list */ } shared4 ; }; template <typename Index> struct Colamd_Row { Index start ; /* index for A of first col in this row */ Index length ; /* number of principal columns in this row */ union { Index degree ; /* number of principal & non-principal columns in row */ Index p ; /* used as a row pointer in init_rows_cols () */ } shared1 ; union { Index mark ; /* for computing set differences and marking dead rows*/ Index first_column ;/* first column in row (used in garbage collection) */ } shared2 ; }; /* ========================================================================== */ /* === Colamd recommended memory size ======================================= */ /* ========================================================================== */ /* The recommended length Alen of the array A passed to colamd is given by the COLAMD_RECOMMENDED (nnz, n_row, n_col) macro. It returns -1 if any argument is negative. 2*nnz space is required for the row and column indices of the matrix. colamd_c (n_col) + colamd_r (n_row) space is required for the Col and Row arrays, respectively, which are internal to colamd. An additional n_col space is the minimal amount of "elbow room", and nnz/5 more space is recommended for run time efficiency. This macro is not needed when using symamd. Explicit typecast to Index added Sept. 23, 2002, COLAMD version 2.2, to avoid gcc -pedantic warning messages. */ template <typename Index> inline Index colamd_c(Index n_col) { return Index( ((n_col) + 1) * sizeof (colamd_col<Index>) / sizeof (Index) ) ; } template <typename Index> inline Index colamd_r(Index n_row) { return Index(((n_row) + 1) * sizeof (Colamd_Row<Index>) / sizeof (Index)); } // Prototypes of non-user callable routines template <typename Index> static Index init_rows_cols (Index n_row, Index n_col, Colamd_Row<Index> Row [], colamd_col<Index> col [], Index A [], Index p [], Index stats[COLAMD_STATS] ); template <typename Index> static void init_scoring (Index n_row, Index n_col, Colamd_Row<Index> Row [], colamd_col<Index> Col [], Index A