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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
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// specific prior written permission.
//
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//
// Author: keir@google.com (Keir Mierle)
//
// A evaluate preparer which puts jacobian the evaluated jacobian blocks
// directly into their final resting place in an overall block sparse matrix.
// The evaluator takes care to avoid evaluating the jacobian for fixed
// parameters.
#ifndef CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
#define CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
#include "ceres/scratch_evaluate_preparer.h"
namespace ceres {
namespace internal {
class ResidualBlock;
class SparseMatrix;
class BlockEvaluatePreparer {
public:
// Using Init() instead of a constructor allows for allocating this structure
// with new[]. This is because C++ doesn't allow passing arguments to objects
// constructed with new[] (as opposed to plain 'new').
void Init(int const* const* jacobian_layout,
int max_derivatives_per_residual_block);
// EvaluatePreparer interface
// Point the jacobian blocks directly into the block sparse matrix, if
// jacobian is non-null. Otherwise, uses an internal per-thread buffer to
// store the jacobians temporarily.
void Prepare(const ResidualBlock* residual_block,
int residual_block_index,
SparseMatrix* jacobian,
double** jacobians);
private:
int const* const* jacobian_layout_;
// For the case that the overall jacobian is not available, but the
// individual jacobians are requested, use a pass-through scratch evaluate
// preparer.
ScratchEvaluatePreparer scratch_evaluate_preparer_;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_