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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2022 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
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// modification, are permitted provided that the following conditions are met:
//
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// Author: keir@google.com (Keir Mierle)
//
// A scratch evaluate preparer provides temporary storage for the jacobians that
// are created when running user-provided cost functions. The evaluator takes
// care to avoid evaluating the jacobian for fixed parameters.
#ifndef CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
#define CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
#include <memory>
#include "ceres/internal/disable_warnings.h"
#include "ceres/internal/export.h"
namespace ceres::internal {
class Program;
class ResidualBlock;
class SparseMatrix;
class CERES_NO_EXPORT ScratchEvaluatePreparer {
public:
// Create num_threads ScratchEvaluatePreparers.
static std::unique_ptr<ScratchEvaluatePreparer[]> Create(
const Program& program, unsigned num_threads);
// EvaluatePreparer interface
void Init(int max_derivatives_per_residual_block);
void Prepare(const ResidualBlock* residual_block,
int residual_block_index,
SparseMatrix* jacobian,
double** jacobians);
private:
// Scratch space for the jacobians; each jacobian is packed one after another.
// There is enough scratch to hold all the jacobians for the largest residual.
std::unique_ptr<double[]> jacobian_scratch_;
};
} // namespace ceres::internal
#include "ceres/internal/reenable_warnings.h"
#endif // CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_