1// Ceres Solver - A fast non-linear least squares minimizer
2// Copyright 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_LINE_SEARCH_MINIMIZER_H_
32#define CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
33
34#include "ceres/minimizer.h"
35#include "ceres/solver.h"
36#include "ceres/types.h"
37#include "ceres/internal/eigen.h"
38#include "glog/logging.h"
39
40namespace ceres {
41namespace internal {
42
43// Generic line search minimization algorithm.
44//
45// For example usage, see SolverImpl::Minimize.
46class LineSearchMinimizer : public Minimizer {
47 public:
48  struct State {
49    State(int num_parameters,
50          int num_effective_parameters)
51        : cost(0.0),
52          gradient(num_effective_parameters),
53          gradient_squared_norm(0.0),
54          search_direction(num_effective_parameters),
55          directional_derivative(0.0),
56          step_size(0.0) {
57    }
58
59    double cost;
60    Vector gradient;
61    double gradient_squared_norm;
62    double gradient_max_norm;
63    Vector search_direction;
64    double directional_derivative;
65    double step_size;
66  };
67
68  ~LineSearchMinimizer() {}
69  virtual void Minimize(const Minimizer::Options& options,
70                        double* parameters,
71                        Solver::Summary* summary);
72};
73
74}  // namespace internal
75}  // namespace ceres
76
77#endif  // CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
78