// Copyright 2021 The Autoware Foundation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_
#define OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_

#include "osqp/glob_opts.h"  // for 'c_int' type ('long' or 'long long')
#include "osqp_interface/visibility_control.hpp"

#include <Eigen/Core>

#include <vector>

namespace autoware
{
namespace common
{
namespace osqp
{
/// \brief Compressed-Column-Sparse Matrix
struct OSQP_INTERFACE_PUBLIC CSC_Matrix
{
  /// Vector of non-zero values. Ex: [4,1,1,2]
  std::vector<c_float> m_vals;
  /// Vector of row index corresponding to values. Ex: [0, 1, 0, 1] (Eigen: 'inner')
  std::vector<c_int> m_row_idxs;
  /// Vector of 'val' indices where each column starts. Ex: [0, 2, 4] (Eigen: 'outer')
  std::vector<c_int> m_col_idxs;
};

/// \brief Calculate CSC matrix from Eigen matrix
OSQP_INTERFACE_PUBLIC CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat);
/// \brief Calculate upper trapezoidal CSC matrix from square Eigen matrix
OSQP_INTERFACE_PUBLIC CSC_Matrix calCSCMatrixTrapezoidal(const Eigen::MatrixXd & mat);
/// \brief Print the given CSC matrix to the standard output
OSQP_INTERFACE_PUBLIC void printCSCMatrix(const CSC_Matrix & csc_mat);

}  // namespace osqp
}  // namespace common
}  // namespace autoware

#endif  // OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_