| // 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: |
| // |
| // * 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: keir@google.com (Keir Mierle) |
| |
| #ifndef CERES_INTERNAL_CGNR_SOLVER_H_ |
| #define CERES_INTERNAL_CGNR_SOLVER_H_ |
| |
| #include <memory> |
| |
| #include "ceres/linear_solver.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| class Preconditioner; |
| |
| class BlockJacobiPreconditioner; |
| |
| // A conjugate gradients on the normal equations solver. This directly solves |
| // for the solution to |
| // |
| // (A^T A + D^T D)x = A^T b |
| // |
| // as required for solving for x in the least squares sense. Currently only |
| // block diagonal preconditioning is supported. |
| class CgnrSolver : public BlockSparseMatrixSolver { |
| public: |
| explicit CgnrSolver(const LinearSolver::Options& options); |
| CgnrSolver(const CgnrSolver&) = delete; |
| void operator=(const CgnrSolver&) = delete; |
| virtual ~CgnrSolver(); |
| |
| Summary SolveImpl(BlockSparseMatrix* A, |
| const double* b, |
| const LinearSolver::PerSolveOptions& per_solve_options, |
| double* x) final; |
| |
| private: |
| const LinearSolver::Options options_; |
| std::unique_ptr<Preconditioner> preconditioner_; |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_CGNR_SOLVER_H_ |