xref: /external/ceres-solver/internal/ceres/detect_structure.h

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#ifndef CERES_INTERNAL_DETECT_STRUCTURE_H_
#define CERES_INTERNAL_DETECT_STRUCTURE_H_

#include "ceres/block_structure.h"

namespace ceres {
namespace internal {

// Detect static blocks in the problem sparsity. For rows containing
// e_blocks, we are interested in detecting if the size of the row
// blocks, e_blocks and the f_blocks remain constant. If they do, then
// we can use template specialization to improve the performance of
// the block level linear algebra operations used by the
// SchurEliminator.
//
// If a block size is not constant, we return Eigen::Dynamic as the
// value. This just means that the eliminator uses dynamically sized
// linear algebra operations rather than static operations whose size
// is known as compile time.
//
// For more details about e_blocks and f_blocks, see
// schur_eliminator.h. This information is used to initialized an
// appropriate template specialization of SchurEliminator.
void DetectStructure(const CompressedRowBlockStructure& bs,
                     const int num_eliminate_blocks,
                     int* row_block_size,
                     int* e_block_size,
                     int* f_block_size);

}  // namespace internal
}  // namespace ceres

#endif  // CERES_INTERNAL_DETECT_STRUCTURE_H_