| // 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: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #ifndef CERES_INTERNAL_MINIMIZER_H_ |
| #define CERES_INTERNAL_MINIMIZER_H_ |
| |
| #include <vector> |
| #include "ceres/solver.h" |
| #include "ceres/iteration_callback.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| class Evaluator; |
| class LinearSolver; |
| |
| // Interface for non-linear least squares solvers. |
| class Minimizer { |
| public: |
| // Options struct to control the behaviour of the Minimizer. Please |
| // see solver.h for detailed information about the meaning and |
| // default values of each of these parameters. |
| struct Options { |
| explicit Options(const Solver::Options& options) { |
| max_num_iterations = options.max_num_iterations; |
| max_solver_time_sec = options.max_solver_time_sec; |
| gradient_tolerance = options.gradient_tolerance; |
| parameter_tolerance = options.parameter_tolerance; |
| function_tolerance = options.function_tolerance; |
| min_relative_decrease = options.min_relative_decrease; |
| eta = options.eta; |
| tau = options.tau; |
| min_mu = options.min_mu; |
| jacobi_scaling = options.jacobi_scaling; |
| crash_and_dump_lsqp_on_failure = options.crash_and_dump_lsqp_on_failure; |
| lsqp_dump_directory = options.lsqp_dump_directory; |
| lsqp_iterations_to_dump = options.lsqp_iterations_to_dump; |
| lsqp_dump_format_type = options.lsqp_dump_format_type; |
| num_eliminate_blocks = options.num_eliminate_blocks; |
| logging_type = options.logging_type; |
| } |
| |
| int max_num_iterations; |
| int max_solver_time_sec; |
| double gradient_tolerance; |
| double parameter_tolerance; |
| double function_tolerance; |
| double min_relative_decrease; |
| double eta; |
| double tau; |
| double min_mu; |
| bool jacobi_scaling; |
| bool crash_and_dump_lsqp_on_failure; |
| vector<int> lsqp_iterations_to_dump; |
| DumpFormatType lsqp_dump_format_type; |
| string lsqp_dump_directory; |
| int num_eliminate_blocks; |
| LoggingType logging_type; |
| |
| // List of callbacks that are executed by the Minimizer at the end |
| // of each iteration. |
| // |
| // Client owns these pointers. |
| vector<IterationCallback*> callbacks; |
| }; |
| |
| virtual ~Minimizer() {} |
| virtual void Minimize(const Options& options, |
| Evaluator* evaluator, |
| LinearSolver* linear_solver, |
| const double* initial_parameters, |
| double* final_parameters, |
| Solver::Summary* summary) = 0; |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_MINIMIZER_H_ |