| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2022 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // 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_EIGEN_VECTOR_OPS_H_ |
| #define CERES_INTERNAL_EIGEN_VECTOR_OPS_H_ |
| |
| #include "ceres/internal/eigen.h" |
| |
| namespace ceres::internal { |
| |
| // Blas1 operations on Eigen vectors. These functions are needed as an |
| // abstraction layer so that we can use different versions of a vector style |
| // object in the conjugate gradients linear solver. |
| inline double Norm(const Vector& x) { return x.norm(); } |
| inline void SetZero(Vector& x) { x.setZero(); } |
| inline void Axpby( |
| double a, const Vector& x, double b, const Vector& y, Vector& z) { |
| z = a * x + b * y; |
| } |
| inline double Dot(const Vector& x, const Vector& y) { return x.dot(y); } |
| inline void Copy(const Vector& from, Vector& to) { to = from; } |
| |
| } // namespace ceres::internal |
| |
| #endif // CERES_INTERNAL_EIGEN_VECTOR_OPS_H_ |
