| // 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 |
| // 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_GRADIENT_PROBLEM_EVALUATOR_H_ |
| #define CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_ |
| |
| #include <map> |
| #include <memory> |
| #include <string> |
| |
| #include "ceres/evaluator.h" |
| #include "ceres/execution_summary.h" |
| #include "ceres/gradient_problem.h" |
| #include "ceres/internal/disable_warnings.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/sparse_matrix.h" |
| #include "ceres/wall_time.h" |
| |
| namespace ceres::internal { |
| |
| class CERES_NO_EXPORT GradientProblemEvaluator final : public Evaluator { |
| public: |
| explicit GradientProblemEvaluator(const GradientProblem& problem) |
| : problem_(problem) {} |
| |
| std::unique_ptr<SparseMatrix> CreateJacobian() const final { return nullptr; } |
| |
| bool Evaluate(const EvaluateOptions& evaluate_options, |
| const double* state, |
| double* cost, |
| double* residuals, |
| double* gradient, |
| SparseMatrix* jacobian) final { |
| CHECK(jacobian == nullptr); |
| ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_); |
| // The reason we use Residual and Jacobian here even when we are |
| // only computing the cost and gradient has to do with the fact |
| // that the line search minimizer code is used by both the |
| // GradientProblemSolver and the main CeresSolver coder where the |
| // Evaluator evaluates the Jacobian, and these magic strings need |
| // to be consistent across the code base for the time accounting |
| // to work. |
| ScopedExecutionTimer call_type_timer( |
| gradient == nullptr ? "Evaluator::Residual" : "Evaluator::Jacobian", |
| &execution_summary_); |
| return problem_.Evaluate(state, cost, gradient); |
| } |
| |
| bool Plus(const double* state, |
| const double* delta, |
| double* state_plus_delta) const final { |
| return problem_.Plus(state, delta, state_plus_delta); |
| } |
| |
| int NumParameters() const final { return problem_.NumParameters(); } |
| |
| int NumEffectiveParameters() const final { |
| return problem_.NumTangentParameters(); |
| } |
| |
| int NumResiduals() const final { return 1; } |
| |
| std::map<std::string, internal::CallStatistics> Statistics() const final { |
| return execution_summary_.statistics(); |
| } |
| |
| private: |
| const GradientProblem& problem_; |
| ::ceres::internal::ExecutionSummary execution_summary_; |
| }; |
| |
| } // namespace ceres::internal |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_ |