| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // 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: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #ifndef CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_ |
| #define CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_ |
| |
| #include "ceres/minimizer.h" |
| #include "ceres/solver.h" |
| #include "ceres/types.h" |
| #include "ceres/internal/eigen.h" |
| #include "glog/logging.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| // Generic line search minimization algorithm. |
| // |
| // For example usage, see SolverImpl::Minimize. |
| class LineSearchMinimizer : public Minimizer { |
| public: |
| struct State { |
| State(int num_parameters, |
| int num_effective_parameters) |
| : cost(0.0), |
| gradient(num_effective_parameters), |
| gradient_squared_norm(0.0), |
| search_direction(num_effective_parameters), |
| directional_derivative(0.0), |
| step_size(0.0) { |
| } |
| |
| double cost; |
| Vector gradient; |
| double gradient_squared_norm; |
| double gradient_max_norm; |
| Vector search_direction; |
| double directional_derivative; |
| double step_size; |
| }; |
| |
| ~LineSearchMinimizer() {} |
| void Minimize(const Minimizer::Options& options, |
| double* parameters, |
| Solver::Summary* summary) final; |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_ |