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//
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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
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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