| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
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| // 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. |
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| // this list of conditions and the following disclaimer in the documentation |
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| // 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 |
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| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| // |
| // Wrappers around Eigen's dense Cholesky factorization |
| // routines. Normally, if CERES_USE_LDLT_FOR_EIGEN_CHOLESKY is not |
| // defined Eigen's LLT factorization is used, which is faster than the |
| // LDLT factorization, however on ARM the LLT factorization seems to |
| // give significantly worse results than LDLT and we are forced to use |
| // LDLT instead. |
| // |
| // These wrapper functions provide a level of indirection to deal with |
| // this switching and hide it from the rest of the code base. |
| |
| #ifndef CERES_INTERNAL_ARRAY_UTILS_H_ |
| #define CERES_INTERNAL_ARRAY_UTILS_H_ |
| |
| #include "ceres/internal/eigen.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| // Invert a matrix using Eigen's dense Cholesky factorization. values |
| // and inverse_values can point to the same array. |
| Eigen::ComputationInfo |
| InvertUpperTriangularUsingCholesky(int size, |
| const double* values, |
| double* inverse_values); |
| |
| // Solve a linear system using Eigen's dense Cholesky |
| // factorization. rhs_values and solution can point to the same array. |
| Eigen::ComputationInfo |
| SolveUpperTriangularUsingCholesky(int size, |
| const double* lhs, |
| const double* rhs, |
| double* solution); |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_ARRAY_UTILS_H_ |
