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// 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_LINEAR_LEAST_SQUARES_PROBLEMS_H_ 32#define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_ 33 34#include <string> 35#include <vector> 36#include "ceres/sparse_matrix.h" 37#include "ceres/internal/port.h" 38#include "ceres/internal/scoped_ptr.h" 39 40namespace ceres { 41namespace internal { 42 43// Structure defining a linear least squares problem and if possible 44// ground truth solutions. To be used by various LinearSolver tests. 45struct LinearLeastSquaresProblem { 46 LinearLeastSquaresProblem() 47 : A(NULL), b(NULL), D(NULL), num_eliminate_blocks(0), 48 x(NULL), x_D(NULL) { 49 } 50 51 scoped_ptr<SparseMatrix> A; 52 scoped_array<double> b; 53 scoped_array<double> D; 54 // If using the schur eliminator then how many of the variable 55 // blocks are e_type blocks. 56 int num_eliminate_blocks; 57 58 // Solution to min_x |Ax - b|^2 59 scoped_array<double> x; 60 // Solution to min_x |Ax - b|^2 + |Dx|^2 61 scoped_array<double> x_D; 62}; 63 64// Factories for linear least squares problem. 65LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id); 66 67LinearLeastSquaresProblem* LinearLeastSquaresProblem0(); 68LinearLeastSquaresProblem* LinearLeastSquaresProblem1(); 69LinearLeastSquaresProblem* LinearLeastSquaresProblem2(); 70LinearLeastSquaresProblem* LinearLeastSquaresProblem3(); 71 72// Write the linear least squares problem to disk. The exact format 73// depends on dump_format_type. 74bool DumpLinearLeastSquaresProblem(const string& filename_base, 75 DumpFormatType dump_format_type, 76 const SparseMatrix* A, 77 const double* D, 78 const double* b, 79 const double* x, 80 int num_eliminate_blocks); 81} // namespace internal 82} // namespace ceres 83 84#endif // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_ 85