1// Ceres Solver - A fast non-linear least squares minimizer 2// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 3// http://code.google.com/p/ceres-solver/ 4// 5// Redistribution and use in source and binary forms, with or without 6// modification, are permitted provided that the following conditions are met: 7// 8// * Redistributions of source code must retain the above copyright notice, 9// this list of conditions and the following disclaimer. 10// * Redistributions in binary form must reproduce the above copyright notice, 11// this list of conditions and the following disclaimer in the documentation 12// and/or other materials provided with the distribution. 13// * Neither the name of Google Inc. nor the names of its contributors may be 14// used to endorse or promote products derived from this software without 15// specific prior written permission. 16// 17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27// POSSIBILITY OF SUCH DAMAGE. 28// 29// Author: sameeragarwal@google.com (Sameer Agarwal) 30 31#ifndef CERES_INTERNAL_EIGEN_H_ 32#define CERES_INTERNAL_EIGEN_H_ 33 34#include "Eigen/Core" 35 36namespace ceres { 37 38typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector; 39typedef Eigen::Matrix<double, 40 Eigen::Dynamic, 41 Eigen::Dynamic, 42 Eigen::RowMajor> Matrix; 43typedef Eigen::Map<Vector> VectorRef; 44typedef Eigen::Map<Matrix> MatrixRef; 45typedef Eigen::Map<const Vector> ConstVectorRef; 46typedef Eigen::Map<const Matrix> ConstMatrixRef; 47 48// Column major matrices for DenseSparseMatrix/DenseQRSolver 49typedef Eigen::Matrix<double, 50 Eigen::Dynamic, 51 Eigen::Dynamic, 52 Eigen::ColMajor> ColMajorMatrix; 53 54typedef Eigen::Map<ColMajorMatrix, 0, 55 Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef; 56 57typedef Eigen::Map<const ColMajorMatrix, 58 0, 59 Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef; 60 61 62 63// C++ does not support templated typdefs, thus the need for this 64// struct so that we can support statically sized Matrix and Maps. 65template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic> 66struct EigenTypes { 67 typedef Eigen::Matrix <double, num_rows, num_cols, Eigen::RowMajor> 68 Matrix; 69 70 typedef Eigen::Map< 71 Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> > 72 MatrixRef; 73 74 typedef Eigen::Matrix <double, num_rows, 1> 75 Vector; 76 77 typedef Eigen::Map < 78 Eigen::Matrix<double, num_rows, 1> > 79 VectorRef; 80 81 82 typedef Eigen::Map< 83 const Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> > 84 ConstMatrixRef; 85 86 typedef Eigen::Map < 87 const Eigen::Matrix<double, num_rows, 1> > 88 ConstVectorRef; 89}; 90 91} // namespace ceres 92 93#endif // CERES_INTERNAL_EIGEN_H_ 94