| // Ceres Solver - A fast non-linear least squares minimizer | |
| // Copyright 2020 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 | |
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| // 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: darius.rueckert@fau.de (Darius Rueckert) | |
| // | |
| #ifndef CERES_PUBLIC_CODEGEN_INTERNAL_OPTIMIZE_EXPRESSION_GRAPH_H_ | |
| #define CERES_PUBLIC_CODEGEN_INTERNAL_OPTIMIZE_EXPRESSION_GRAPH_H_ | |
| #include <memory> | |
| #include <vector> | |
| #include "ceres/codegen/internal/expression_graph.h" | |
| #include "ceres/codegen/internal/optimization_pass_summary.h" | |
| namespace ceres { | |
| namespace internal { | |
| struct OptimizeExpressionGraphOptions { | |
| int max_num_iterations = 100; | |
| bool eliminate_nops = true; | |
| }; | |
| struct OptimizeExpressionGraphSummary { | |
| int num_iterations; | |
| std::vector<OptimizationPassSummary> summaries; | |
| }; | |
| // Optimize the given ExpressionGraph in-place according to the defined | |
| // OptimizeExpressionGraphOptions. This will change the ExpressionGraph, but the | |
| // generated code will output the same numerical values. | |
| // | |
| // The Optimization iteratively applies all OptimizationPasses until the graph | |
| // does not change anymore or max_num_iterations is reached. Pseudo Code: | |
| // | |
| // for(int it = 0; it < max_num_iterations; ++it) { | |
| // graph.hasChanged = false; | |
| // for each pass in OptimizationPasses | |
| // pass.applyTo(graph) | |
| // if(!graph.hasChanged) | |
| // break; | |
| // } | |
| // | |
| OptimizeExpressionGraphSummary OptimizeExpressionGraph( | |
| const OptimizeExpressionGraphOptions& options, ExpressionGraph* graph); | |
| } // namespace internal | |
| } // namespace ceres | |
| #endif // CERES_PUBLIC_CODEGEN_INTERNAL_OPTIMIZE_EXPRESSION_GRAPH_H_ |