| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2010, 2011, 2012 Google Inc. All rights reserved. |
| // http://code.google.com/p/ceres-solver/ |
| // |
| // Redistribution and use in source and binary forms, with or without |
| // modification, are permitted provided that the following conditions are met: |
| // |
| // * Redistributions of source code must retain the above copyright notice, |
| // this list of conditions and the following disclaimer. |
| // * Redistributions in binary form must reproduce the above copyright notice, |
| // this list of conditions and the following disclaimer in the documentation |
| // and/or other materials provided with the distribution. |
| // * Neither the name of Google Inc. nor the names of its contributors may be |
| // used to endorse or promote products derived from this software without |
| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: keir@google.com (Keir Mierle) |
| |
| #include "ceres/levenberg_marquardt.h" |
| |
| #include "gtest/gtest.h" |
| |
| namespace ceres2 { |
| namespace internal { |
| |
| class PowellEvaluator : public Evaluator { |
| public: |
| PowellEvaluator(const Program& program); |
| virtual ~PowellEvaluator() {} |
| |
| // Implementation of Evaluator interface. |
| virtual SparseMatrix* CreateJacobian() const { |
| DenseSparseMatrix* dense_jacobian = |
| new DenseSparseMatrix(NumResiduals(), NumEffectiveParameters()); |
| dense_jacobian->SetZero(); |
| return dense_jacobian; |
| } |
| |
| virtual bool Evaluate(const double* state, |
| double* cost, |
| double* residuals, |
| SparseMatrix* jacobian) { |
| |
| // f1 = x1 + 10 * x2; |
| double r0 = x1[0] + T(10.0) * x2[0]; |
| // f2 = sqrt(5) (x3 - x4) |
| double r1 = T(sqrt(5.0)) * (x3[0] - x4[0]); |
| // f3 = (x2 - 2 x3)^2 |
| double r2 = (x2[0] - T(2.0) * x4[0]) * (x2[0] - T(2.0) * x4[0]); |
| // f4 = sqrt(10) (x1 - x4)^2 |
| double r3 = T(sqrt(10.0)) * (x1[0] - x4[0]) * (x1[0] - x4[0]); |
| |
| if (residuals != NULL) { |
| residuals[0] = r0; |
| |
| if (jacobian == |
| AlignedMatrixRef jacobian |
| } |
| |
| virtual bool Plus(const double* state, |
| const double* delta, |
| double* state_plus_delta) const; |
| virtual int NumEffectiveParameters() const; |
| virtual int NumParameters() const; |
| virtual int NumResiduals() const; |
| }; |
| |
| |
| } // namespace internal |
| } // namespace ceres2 |