Initial commit of Ceres Solver.
diff --git a/internal/ceres/scratch_evaluate_preparer.cc b/internal/ceres/scratch_evaluate_preparer.cc
new file mode 100644
index 0000000..6f0ceef
--- /dev/null
+++ b/internal/ceres/scratch_evaluate_preparer.cc
@@ -0,0 +1,78 @@
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/scratch_evaluate_preparer.h"
+
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+
+namespace ceres {
+namespace internal {
+
+ScratchEvaluatePreparer* ScratchEvaluatePreparer::Create(
+ const Program &program,
+ int num_threads) {
+ ScratchEvaluatePreparer* preparers = new ScratchEvaluatePreparer[num_threads];
+ int max_derivatives_per_residual_block =
+ program.MaxDerivativesPerResidualBlock();
+ for (int i = 0; i < num_threads; i++) {
+ preparers[i].Init(max_derivatives_per_residual_block);
+ }
+ return preparers;
+}
+
+void ScratchEvaluatePreparer::Init(int max_derivatives_per_residual_block) {
+ jacobian_scratch_.reset(
+ new double[max_derivatives_per_residual_block]);
+}
+
+// Point the jacobian blocks into the scratch area of this evaluate preparer.
+void ScratchEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
+ int /* residual_block_index */,
+ SparseMatrix* /* jacobian */,
+ double** jacobians) {
+ double* jacobian_block_cursor = jacobian_scratch_.get();
+ int num_residuals = residual_block->NumResiduals();
+ int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ const ParameterBlock* parameter_block =
+ residual_block->parameter_blocks()[j];
+ if (parameter_block->IsConstant()) {
+ jacobians[j] = NULL;
+ } else {
+ jacobians[j] = jacobian_block_cursor;
+ jacobian_block_cursor += num_residuals * parameter_block->LocalSize();
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
