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