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: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_SOLVER_IMPL_H_
+#define CERES_INTERNAL_SOLVER_IMPL_H_
+
+#include "ceres/solver.h"
+
+namespace ceres {
+namespace internal {
+
+class Evaluator;
+class LinearSolver;
+class ProblemImpl;
+class Program;
+
+class SolverImpl {
+ public:
+ // Mirrors the interface in solver.h, but exposes implementation
+ // details for testing internally.
+ static void Solve(const Solver::Options& options,
+ Problem* problem,
+ Solver::Summary* summary);
+
+ // Create the transformed Program, which has all the fixed blocks
+ // and residuals eliminated, and in the case of automatic schur
+ // ordering, has the E blocks first in the resulting program, with
+ // options.num_eliminate_blocks set appropriately.
+ static Program* CreateReducedProgram(Solver::Options* options,
+ ProblemImpl* problem_impl,
+ string* error);
+
+ // Create the appropriate linear solver, taking into account any
+ // config changes decided by CreateTransformedProgram(). The
+ // selected linear solver, which may be different from what the user
+ // selected; consider the case that the remaining elimininated
+ // blocks is zero after removing fixed blocks.
+ static LinearSolver* CreateLinearSolver(Solver::Options* options,
+ string* error);
+
+ // Reorder the parameter blocks in program using the vector
+ // ordering. A return value of true indicates success and false
+ // indicates an error was encountered whose cause is logged to
+ // LOG(ERROR).
+ static bool ApplyUserOrdering(const ProblemImpl& problem_impl,
+ vector<double*>& ordering,
+ Program* program,
+ string* error);
+
+ // Reorder the residuals for program, if necessary, so that the
+ // residuals involving each E block occur together. This is a
+ // necessary condition for the Schur eliminator, which works on
+ // these "row blocks" in the jacobian.
+ static bool MaybeReorderResidualBlocks(const Solver::Options& options,
+ Program* program,
+ string* error);
+
+ // Create the appropriate evaluator for the transformed program.
+ static Evaluator* CreateEvaluator(const Solver::Options& options,
+ Program* program,
+ string* error);
+
+ // Run the minimization for the given evaluator and configuration.
+ static void Minimize(const Solver::Options &options,
+ Program* program,
+ Evaluator* evaluator,
+ LinearSolver* linear_solver,
+ double* initial_parameters,
+ double* final_parameters,
+ Solver::Summary* summary);
+
+ // Remove the fixed or unused parameter blocks and residuals
+ // depending only on fixed parameters from the problem. Also updates
+ // num_eliminate_blocks, since removed parameters changes the point
+ // at which the eliminated blocks is valid.
+ static bool RemoveFixedBlocksFromProgram(Program* program,
+ int* num_eliminate_blocks,
+ string* error);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SOLVER_IMPL_H_
