problem_impl.h revision 0ae28bd5885b5daa526898fcf7c323dc2c3e1963
10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: keir@google.com (Keir Mierle) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// This is the implementation of the public Problem API. The pointer to 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// implementation (PIMPL) idiom makes it possible for Ceres internal code to 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// refer to the private data members without needing to exposing it to the 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// world. An alternative to PIMPL is to have a factory which returns instances 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// of a virtual base class; while that approach would work, it requires clients 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// to always put a Problem object into a scoped pointer; this needlessly muddies 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// client code for little benefit. Therefore, the PIMPL comprise was chosen. 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#ifndef CERES_PUBLIC_PROBLEM_IMPL_H_ 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#define CERES_PUBLIC_PROBLEM_IMPL_H_ 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <map> 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <vector> 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/macros.h" 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/port.h" 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/scoped_ptr.h" 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/problem.h" 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/types.h" 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass CostFunction; 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass LossFunction; 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass LocalParameterization; 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass Program; 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass ResidualBlock; 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass ProblemImpl { 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong public: 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong typedef map<double*, ParameterBlock*> ParameterMap; 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ProblemImpl(); 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong explicit ProblemImpl(const Problem::Options& options); 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ~ProblemImpl(); 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // See the public problem.h file for description of these methods. 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ResidualBlockId AddResidualBlock(CostFunction* cost_function, 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LossFunction* loss_function, 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const vector<double*>& parameter_blocks); 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ResidualBlockId AddResidualBlock(CostFunction* cost_function, 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LossFunction* loss_function, 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x0); 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ResidualBlockId AddResidualBlock(CostFunction* cost_function, 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LossFunction* loss_function, 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x0, double* x1); 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ResidualBlockId AddResidualBlock(CostFunction* cost_function, 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LossFunction* loss_function, 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x0, double* x1, double* x2); 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ResidualBlockId AddResidualBlock(CostFunction* cost_function, 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LossFunction* loss_function, 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x0, double* x1, double* x2, 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x3); 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ResidualBlockId AddResidualBlock(CostFunction* cost_function, 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LossFunction* loss_function, 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x0, double* x1, double* x2, 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x3, double* x4); 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ResidualBlockId AddResidualBlock(CostFunction* cost_function, 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LossFunction* loss_function, 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x0, double* x1, double* x2, 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x3, double* x4, double* x5); 960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ResidualBlockId AddResidualBlock(CostFunction* cost_function, 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LossFunction* loss_function, 980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x0, double* x1, double* x2, 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x3, double* x4, double* x5, 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x6); 1010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ResidualBlockId AddResidualBlock(CostFunction* cost_function, 1020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LossFunction* loss_function, 1030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x0, double* x1, double* x2, 1040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x3, double* x4, double* x5, 1050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x6, double* x7); 1060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ResidualBlockId AddResidualBlock(CostFunction* cost_function, 1070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LossFunction* loss_function, 1080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x0, double* x1, double* x2, 1090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x3, double* x4, double* x5, 1100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x6, double* x7, double* x8); 1110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ResidualBlockId AddResidualBlock(CostFunction* cost_function, 1120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LossFunction* loss_function, 1130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x0, double* x1, double* x2, 1140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x3, double* x4, double* x5, 1150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x6, double* x7, double* x8, 1160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* x9); 1170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void AddParameterBlock(double* values, int size); 1180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void AddParameterBlock(double* values, 1190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int size, 1200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LocalParameterization* local_parameterization); 1210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void SetParameterBlockConstant(double* values); 1220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void SetParameterBlockVariable(double* values); 1230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void SetParameterization(double* values, 1240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LocalParameterization* local_parameterization); 1250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int NumParameterBlocks() const; 1260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int NumParameters() const; 1270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int NumResidualBlocks() const; 1280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int NumResiduals() const; 1290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const Program& program() const { return *program_; } 1310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Program* mutable_program() { return program_.get(); } 1320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const ParameterMap& parameter_map() const { return parameter_block_map_; } 1340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong private: 1360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const Problem::Options options_; 1370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // The mapping from user pointers to parameter blocks. 1390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong map<double*, ParameterBlock*> parameter_block_map_; 1400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong internal::scoped_ptr<internal::Program> program_; 1420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong CERES_DISALLOW_COPY_AND_ASSIGN(ProblemImpl); 1430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 1440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 1460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 1470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#endif // CERES_PUBLIC_PROBLEM_IMPL_H_ 149