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//
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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
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20// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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24// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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28//
29// Author: keir@google.com (Keir Mierle)
30//
31// A scratch evaluate preparer provides temporary storage for the jacobians that
32// are created when running user-provided cost functions. The evaluator takes
33// care to avoid evaluating the jacobian for fixed parameters.
34
35#ifndef CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
36#define CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
37
38#include "ceres/internal/scoped_ptr.h"
39
40namespace ceres {
41namespace internal {
42
43class Program;
44class ResidualBlock;
45class SparseMatrix;
46
47class ScratchEvaluatePreparer {
48 public:
49  // Create num_threads ScratchEvaluatePreparers.
50  static ScratchEvaluatePreparer* Create(const Program &program,
51                                         int num_threads);
52
53  // EvaluatePreparer interface
54  void Init(int max_derivatives_per_residual_block);
55  void Prepare(const ResidualBlock* residual_block,
56               int residual_block_index,
57               SparseMatrix* jacobian,
58               double** jacobians);
59
60 private:
61  // Scratch space for the jacobians; each jacobian is packed one after another.
62  // There is enough scratch to hold all the jacobians for the largest residual.
63  scoped_array<double> jacobian_scratch_;
64};
65
66}  // namespace internal
67}  // namespace ceres
68
69#endif  // CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
70