SparseSystem.h

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#pragma once

#include <Eigen/Dense>

#include "OrderedSparseMatrix.h"

namespace isam {

class SparseSystem : public OrderedSparseMatrix {
  Eigen::VectorXd _rhs;
public:
  SparseSystem(int num_rows, int num_cols);
  SparseSystem(const SparseSystem& mat);
  SparseSystem(const SparseSystem& mat, int num_rows, int num_cols, int first_row = 0, int first_col = 0);
  SparseSystem(int num_rows, int num_cols, SparseVector_p* rows, const Eigen::VectorXd& rhs);
  virtual ~SparseSystem();
  const SparseSystem& operator= (const SparseSystem& mat);

  const Eigen::VectorXd& rhs() const {return _rhs;}
  void set_rhs(const Eigen::VectorXd& rhs) {_rhs = rhs;}

  // overridden functions

  void apply_givens(int row, int col, double* c_givens = NULL, double* s_givens = NULL);

  void append_new_rows(int num);

  // new functions

  virtual void add_row(const SparseVector& new_row, double new_r);

  virtual int add_row_givens(const SparseVector& new_row, double new_r);

  virtual Eigen::VectorXd solve() const;

};

}