| // 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: |
| // |
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| // 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" |
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| // |
| // Author: keir@google.com (Keir Mierle) |
| |
| #ifndef CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_ |
| #define CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_ |
| |
| #include <memory> |
| |
| #include "ceres/block_random_access_diagonal_matrix.h" |
| #include "ceres/internal/disable_warnings.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/preconditioner.h" |
| |
| namespace ceres::internal { |
| |
| class BlockSparseMatrix; |
| struct CompressedRowBlockStructure; |
| |
| // A block Jacobi preconditioner. This is intended for use with |
| // conjugate gradients, or other iterative symmetric solvers. To use |
| // the preconditioner, create one by passing a BlockSparseMatrix "A" |
| // to the constructor. This fixes the sparsity pattern to the pattern |
| // of the matrix A^TA. |
| // |
| // Before each use of the preconditioner in a solve with conjugate gradients, |
| // update the matrix by running Update(A, D). The values of the matrix A are |
| // inspected to construct the preconditioner. The vector D is applied as the |
| // D^TD diagonal term. |
| class CERES_NO_EXPORT BlockJacobiPreconditioner |
| : public BlockSparseMatrixPreconditioner { |
| public: |
| // A must remain valid while the BlockJacobiPreconditioner is. |
| explicit BlockJacobiPreconditioner(const BlockSparseMatrix& A); |
| BlockJacobiPreconditioner(const BlockJacobiPreconditioner&) = delete; |
| void operator=(const BlockJacobiPreconditioner&) = delete; |
| |
| ~BlockJacobiPreconditioner() override; |
| |
| // Preconditioner interface |
| void RightMultiply(const double* x, double* y) const final; |
| int num_rows() const final { return m_->num_rows(); } |
| int num_cols() const final { return m_->num_rows(); } |
| const BlockRandomAccessDiagonalMatrix& matrix() const { return *m_; } |
| |
| private: |
| bool UpdateImpl(const BlockSparseMatrix& A, const double* D) final; |
| |
| std::unique_ptr<BlockRandomAccessDiagonalMatrix> m_; |
| }; |
| |
| } // namespace ceres::internal |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_ |