| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 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_TRUST_REGION_MINIMIZER_H_ |
| #define CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_ |
| |
| #include "ceres/minimizer.h" |
| #include "ceres/solver.h" |
| #include "ceres/types.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| // Generic trust region minimization algorithm. The heavy lifting is |
| // done by a TrustRegionStrategy object passed in as part of options. |
| // |
| // For example usage, see SolverImpl::Minimize. |
| class TrustRegionMinimizer : public Minimizer { |
| public: |
| ~TrustRegionMinimizer() {} |
| virtual void Minimize(const Minimizer::Options& options, |
| double* parameters, |
| Solver::Summary* summary); |
| |
| private: |
| void Init(const Minimizer::Options& options); |
| void EstimateScale(const SparseMatrix& jacobian, double* scale) const; |
| bool MaybeDumpLinearLeastSquaresProblem(const int iteration, |
| const SparseMatrix* jacobian, |
| const double* residuals, |
| const double* step) const; |
| |
| Minimizer::Options options_; |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| #endif // CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_ |