| // 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 |
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| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #ifndef CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_ |
| #define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_ |
| |
| #include <string> |
| #include <vector> |
| #include "ceres/sparse_matrix.h" |
| #include "ceres/internal/port.h" |
| #include "ceres/internal/scoped_ptr.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| // Structure defining a linear least squares problem and if possible |
| // ground truth solutions. To be used by various LinearSolver tests. |
| struct LinearLeastSquaresProblem { |
| LinearLeastSquaresProblem() |
| : A(NULL), b(NULL), D(NULL), num_eliminate_blocks(0), |
| x(NULL), x_D(NULL) { |
| } |
| |
| scoped_ptr<SparseMatrix> A; |
| scoped_array<double> b; |
| scoped_array<double> D; |
| // If using the schur eliminator then how many of the variable |
| // blocks are e_type blocks. |
| int num_eliminate_blocks; |
| |
| // Solution to min_x |Ax - b|^2 |
| scoped_array<double> x; |
| // Solution to min_x |Ax - b|^2 + |Dx|^2 |
| scoped_array<double> x_D; |
| }; |
| |
| // Factories for linear least squares problem. |
| LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id); |
| |
| LinearLeastSquaresProblem* LinearLeastSquaresProblem0(); |
| LinearLeastSquaresProblem* LinearLeastSquaresProblem1(); |
| LinearLeastSquaresProblem* LinearLeastSquaresProblem2(); |
| LinearLeastSquaresProblem* LinearLeastSquaresProblem3(); |
| LinearLeastSquaresProblem* LinearLeastSquaresProblem4(); |
| |
| // Write the linear least squares problem to disk. The exact format |
| // depends on dump_format_type. |
| bool DumpLinearLeastSquaresProblem(const std::string& filename_base, |
| DumpFormatType dump_format_type, |
| const SparseMatrix* A, |
| const double* D, |
| const double* b, |
| const double* x, |
| int num_eliminate_blocks); |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_ |