| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2020 Google Inc. All rights reserved. |
| // http://code.google.com/p/ceres-solver/ |
| // |
| // 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: darius.rueckert@fau.de (Darius Rueckert) |
| // |
| #ifndef CERES_PUBLIC_CODEGEN_INTERNAL_OPTIMIZE_EXPRESSION_GRAPH_H_ |
| #define CERES_PUBLIC_CODEGEN_INTERNAL_OPTIMIZE_EXPRESSION_GRAPH_H_ |
| |
| #include <memory> |
| #include <vector> |
| |
| #include "ceres/codegen/internal/expression_graph.h" |
| #include "ceres/codegen/internal/optimization_pass_summary.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| struct OptimizeExpressionGraphOptions { |
| int max_num_iterations = 100; |
| bool eliminate_nops = true; |
| }; |
| |
| struct OptimizeExpressionGraphSummary { |
| int num_iterations; |
| std::vector<OptimizationPassSummary> summaries; |
| }; |
| |
| // Optimize the given ExpressionGraph in-place according to the defined |
| // OptimizeExpressionGraphOptions. This will change the ExpressionGraph, but the |
| // generated code will output the same numerical values. |
| // |
| // The Optimization iteratively applies all OptimizationPasses until the graph |
| // does not change anymore or max_num_iterations is reached. Pseudo Code: |
| // |
| // for(int it = 0; it < max_num_iterations; ++it) { |
| // graph.hasChanged = false; |
| // for each pass in OptimizationPasses |
| // pass.applyTo(graph) |
| // if(!graph.hasChanged) |
| // break; |
| // } |
| // |
| OptimizeExpressionGraphSummary OptimizeExpressionGraph( |
| const OptimizeExpressionGraphOptions& options, ExpressionGraph* graph); |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_PUBLIC_CODEGEN_INTERNAL_OPTIMIZE_EXPRESSION_GRAPH_H_ |