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//
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6// modification, are permitted provided that the following conditions are met:
7//
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16//
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28//
29// Author: keir@google.com (Keir Mierle)
30//
31// A evaluate preparer which puts jacobian the evaluated jacobian blocks
32// directly into their final resting place in an overall block sparse matrix.
33// The evaluator takes care to avoid evaluating the jacobian for fixed
34// parameters.
35
36#ifndef CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
37#define CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
38
39#include "ceres/scratch_evaluate_preparer.h"
40
41namespace ceres {
42namespace internal {
43
44class ResidualBlock;
45class SparseMatrix;
46
47class BlockEvaluatePreparer {
48 public:
49  // Using Init() instead of a constructor allows for allocating this structure
50  // with new[]. This is because C++ doesn't allow passing arguments to objects
51  // constructed with new[] (as opposed to plain 'new').
52  void Init(int const* const* jacobian_layout,
53            int max_derivatives_per_residual_block);
54
55  // EvaluatePreparer interface
56
57  // Point the jacobian blocks directly into the block sparse matrix, if
58  // jacobian is non-null. Otherwise, uses an internal per-thread buffer to
59  // store the jacobians temporarily.
60  void Prepare(const ResidualBlock* residual_block,
61               int residual_block_index,
62               SparseMatrix* jacobian,
63               double** jacobians);
64
65 private:
66  int const* const* jacobian_layout_;
67
68  // For the case that the overall jacobian is not available, but the
69  // individual jacobians are requested, use a pass-through scratch evaluate
70  // preparer.
71  ScratchEvaluatePreparer scratch_evaluate_preparer_;
72};
73
74}  // namespace internal
75}  // namespace ceres
76
77#endif  // CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
78