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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 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
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// Author: sameeragarwal@google.com (Sameer Agarwal)
#ifndef CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
#define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
#include <memory>
#include <string>
#include <vector>
#include "ceres/internal/port.h"
#include "ceres/sparse_matrix.h"
namespace ceres {
namespace internal {
// Structure defining a linear least squares problem and if possible
// ground truth solutions. To be used by various LinearSolver tests.
struct CERES_EXPORT_INTERNAL LinearLeastSquaresProblem {
LinearLeastSquaresProblem() : num_eliminate_blocks(0) {}
std::unique_ptr<SparseMatrix> A;
std::unique_ptr<double[]> b;
std::unique_ptr<double[]> D;
// If using the schur eliminator then how many of the variable
// blocks are e_type blocks.
int num_eliminate_blocks;
// Solution to min_x |Ax - b|^2
std::unique_ptr<double[]> x;
// Solution to min_x |Ax - b|^2 + |Dx|^2
std::unique_ptr<double[]> x_D;
};
// Factories for linear least squares problem.
CERES_EXPORT_INTERNAL LinearLeastSquaresProblem*
CreateLinearLeastSquaresProblemFromId(int id);
LinearLeastSquaresProblem* LinearLeastSquaresProblem0();
LinearLeastSquaresProblem* LinearLeastSquaresProblem1();
LinearLeastSquaresProblem* LinearLeastSquaresProblem2();
LinearLeastSquaresProblem* LinearLeastSquaresProblem3();
LinearLeastSquaresProblem* LinearLeastSquaresProblem4();
// Write the linear least squares problem to disk. The exact format
// depends on dump_format_type.
bool DumpLinearLeastSquaresProblem(const std::string& filename_base,
DumpFormatType dump_format_type,
const SparseMatrix* A,
const double* D,
const double* b,
const double* x,
int num_eliminate_blocks);
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_