Initial commit of Ceres Solver.
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+// 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;
+ jacobi_scaling = options.jacobi_scaling;
+ crash_and_dump_lsqp_on_failure = options.crash_and_dump_lsqp_on_failure;
+ lsqp_dump_format = options.lsqp_dump_format;
+ lsqp_iterations_to_dump = options.lsqp_iterations_to_dump;
+ 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;
+ bool jacobi_scaling;
+ bool crash_and_dump_lsqp_on_failure;
+ string lsqp_dump_format;
+ vector<int> lsqp_iterations_to_dump;
+ 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_
