jacobian_workspace.h

#pragma once
#include <Eigen/Core>
#include <Eigen/StdVector>
 
#include "Base/Headers/Buffer.hpp"
#include "hyper_graph.h"
 
namespace NDEVR {
 
    struct OptimizableGraph;

    class  JacobianWorkspace
    {
    public:
        JacobianWorkspace()
            : _maxNumVertices(0U)
            , _maxDimension(0U)
        {
        }
        void allocate()
        {
            _workspace.resize(_maxNumVertices * _maxDimension);
        }

        void updateSize(const HyperGraph::HGEdge* e);

        void updateSize(const OptimizableGraph& graph);

        void updateSize(uint04 numVertices, uint04 dimension)
        {
            _maxNumVertices = getMax(numVertices, _maxNumVertices);
            _maxDimension = getMax(dimension, _maxDimension);
        }

        uint04 maxDimension() const { return _maxDimension; }
        uint04 maxNumVertices() const { return _maxNumVertices; }
        g_type* workspaceForVertex(uint04 vertexIndex)
        {
            lib_assert(_workspace.size() > vertexIndex * _maxDimension, "Bad workplace dimension");
            return &_workspace.at(vertexIndex * _maxDimension);
        }
    protected:
        std::vector<g_type, Eigen::aligned_allocator<g_type>> _workspace;
        uint04 _maxNumVertices;       
        uint04 _maxDimension;           
    };
 
}