StructuredC.h

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/* Copyright 2020-2021 CNRS-AIST JRL */
 
#pragma once
 
#include <iosfwd>
#include <vector>
 
#include <jrl-qp/api.h>
#include <jrl-qp/defs.h>
 
#include <jrl-qp/internal/SingleNZSegmentVector.h>
 
namespace jrl::qp::structured
{
class JRLQP_DLLAPI StructuredC
{
public:
  enum class Type
  {
    Diagonal,
  };
 
  StructuredC();
 
  StructuredC(std::vector<MatrixConstRef> C);
 
  StructuredC & operator=(const StructuredC & other);
 
  const MatrixConstRef & diag(int i) const;
  // const MatrixConstRef & offDiag(int i) const;
  int nbVar() const;
  int nbVar(int i) const;
  int nbCstr() const;
  int nbCstr(int i) const;
  internal::SingleNZSegmentVector col(int i) const;
 
  void transposeMult(VectorRef out, const VectorConstRef & in) const;
 
  friend std::ostream & operator<<(std::ostream & os, const StructuredC & /*C*/)
  {
    // TODO
    return os;
  }
 
private:
  Type type_;
  std::vector<MatrixConstRef> diag_;
  // std::vector<MatrixConstRef> offDiag_;
  std::vector<int> cumulNbVar_;
  std::vector<int> cumulNbCstr_;
  std::vector<int> toBlock_;
  int nbVar_;
  int nbCstr_;
};
} // namespace jrl::qp::structured