xref: /external/ceres-solver/internal/ceres/generated/partitioned_matrix_view_2_2_3.cc

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
//   used to endorse or promote products derived from this software without
//   specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: moll.markus@arcor.de (Markus Moll)

#ifndef CERES_INTERNAL_POLYNOMIAL_SOLVER_H_
#define CERES_INTERNAL_POLYNOMIAL_SOLVER_H_

#include "ceres/internal/eigen.h"

namespace ceres {
namespace internal {

// Use the companion matrix eigenvalues to determine the roots of the polynomial
//
//   sum_{i=0}^N polynomial(i) x^{N-i}.
//
// This function returns true on success, false otherwise.
// Failure indicates that the polynomial is invalid (of size 0) or
// that the eigenvalues of the companion matrix could not be computed.
// On failure, a more detailed message will be written to LOG(ERROR).
// If real is not NULL, the real parts of the roots will be returned in it.
// Likewise, if imaginary is not NULL, imaginary parts will be returned in it.
bool FindPolynomialRoots(const Vector& polynomial,
                         Vector* real,
                         Vector* imaginary);

// Evaluate the polynomial at x using the Horner scheme.
inline double EvaluatePolynomial(const Vector& polynomial, double x) {
  double v = 0.0;
  for (int i = 0; i < polynomial.size(); ++i) {
    v = v * x + polynomial(i);
  }
  return v;
}

}  // namespace internal
}  // namespace ceres

#endif  // CERES_INTERNAL_POLYNOMIAL_SOLVER_H_