internal/ceres/block_evaluate_preparer.h

// Ceres Solver - A fast non-linear least squares minimizer
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// http://code.google.com/p/ceres-solver/
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// Author: keir@google.com (Keir Mierle)
//
// A evaluate preparer which puts jacobian the evaluated jacobian blocks
// directly into their final resting place in an overall block sparse matrix.
// The evaluator takes care to avoid evaluating the jacobian for fixed
// parameters.

#ifndef CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
#define CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_

namespace ceres {
namespace internal {

class ResidualBlock;
class SparseMatrix;

class BlockEvaluatePreparer {
 public:
  // Using Init() instead of a constructor allows for allocating this structure
  // with new[]. This is because C++ doesn't allow passing arguments to objects
  // constructed with new[] (as opposed to plain 'new').
  void Init(int** jacobian_layout);

  // EvaluatePreparer interface

  // Point the jacobian blocks directly into the block sparse matrix.
  void Prepare(const ResidualBlock* residual_block,
               int residual_block_index,
               SparseMatrix* jacobian,
               double** jacobians) const;

 private:
  int const* const* jacobian_layout_;
};

}  // namespace internal
}  // namespace ceres

#endif  // CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_