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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
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// modification, are permitted provided that the following conditions are met:
//
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// 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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// Author: keir@google.com (Keir Mierle)
//
// A jacobian writer that directly writes to compressed row sparse matrices.
#ifndef CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
#define CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
#include "ceres/evaluator.h"
#include "ceres/scratch_evaluate_preparer.h"
namespace ceres {
namespace internal {
class Program;
class SparseMatrix;
class CompressedRowJacobianWriter {
public:
CompressedRowJacobianWriter(Evaluator::Options /* ignored */,
Program* program)
: program_(program) {
}
// JacobianWriter interface.
// Since the compressed row matrix has different layout than that assumed by
// the cost functions, use scratch space to store the jacobians temporarily
// then copy them over to the larger jacobian in the Write() function.
ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
return ScratchEvaluatePreparer::Create(*program_, num_threads);
}
SparseMatrix* CreateJacobian() const;
void Write(int residual_id,
int residual_offset,
double **jacobians,
SparseMatrix* base_jacobian);
private:
Program* program_;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_