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_TRUST_REGION_MINIMIZER_H_ 32#define CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_ 33 34#include "ceres/minimizer.h" 35#include "ceres/solver.h" 36#include "ceres/types.h" 37 38namespace ceres { 39namespace internal { 40 41// Generic trust region minimization algorithm. The heavy lifting is 42// done by a TrustRegionStrategy object passed in as part of options. 43// 44// For example usage, see SolverImpl::Minimize. 45class TrustRegionMinimizer : public Minimizer { 46 public: 47 ~TrustRegionMinimizer() {} 48 virtual void Minimize(const Minimizer::Options& options, 49 double* parameters, 50 Solver::Summary* summary); 51 52 private: 53 void Init(const Minimizer::Options& options); 54 void EstimateScale(const SparseMatrix& jacobian, double* scale) const; 55 bool MaybeDumpLinearLeastSquaresProblem(const int iteration, 56 const SparseMatrix* jacobian, 57 const double* residuals, 58 const double* step) const; 59 60 Minimizer::Options options_; 61}; 62 63} // namespace internal 64} // namespace ceres 65#endif // CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_ 66