internal/ceres/gradient_problem_evaluator.h

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 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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//   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.
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//   used to endorse or promote products derived from this software without
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//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#ifndef CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
#define CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_

#include <map>
#include <string>

#include "ceres/evaluator.h"
#include "ceres/execution_summary.h"
#include "ceres/gradient_problem.h"
#include "ceres/internal/port.h"
#include "ceres/wall_time.h"

namespace ceres {
namespace internal {

class GradientProblemEvaluator : public Evaluator {
 public:
  explicit GradientProblemEvaluator(const GradientProblem& problem)
      : problem_(problem) {}
  virtual ~GradientProblemEvaluator() {}
  virtual SparseMatrix* CreateJacobian() const { return NULL; }
  virtual bool Evaluate(const EvaluateOptions& evaluate_options,
                        const double* state,
                        double* cost,
                        double* residuals,
                        double* gradient,
                        SparseMatrix* jacobian) {
    CHECK(jacobian == NULL);
    ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_);
    // The reason we use Residual and Jacobian here even when we are
    // only computing the cost and gradient has to do with the fact
    // that the line search minimizer code is used by both the
    // GradientProblemSolver and the main CeresSolver coder where the
    // Evaluator evaluates the Jacobian, and these magic strings need
    // to be consistent across the code base for the time accounting
    // to work.
    ScopedExecutionTimer call_type_timer(
        gradient == NULL ? "Evaluator::Residual" : "Evaluator::Jacobian",
        &execution_summary_);
    execution_summary_.IncrementCall(gradient == NULL ? "Evaluator::Residual"
                                                      : "Evaluator::Jacobian");
    return problem_.Evaluate(state, cost, gradient);
  }

  virtual bool Plus(const double* state,
                    const double* delta,
                    double* state_plus_delta) const {
    return problem_.Plus(state, delta, state_plus_delta);
  }

  virtual int NumParameters() const {
    return problem_.NumParameters();
  }

  virtual int NumEffectiveParameters()  const {
    return problem_.NumLocalParameters();
  }

  virtual int NumResiduals() const { return 1; }

  virtual std::map<std::string, int> CallStatistics() const {
    return execution_summary_.calls();
  }

  virtual std::map<std::string, double> TimeStatistics() const {
    return execution_summary_.times();
  }

 private:
  const GradientProblem& problem_;
  ::ceres::internal::ExecutionSummary execution_summary_;
};

}  // namespace internal
}  // namespace ceres

#endif  // CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_