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_DETECT_STRUCTURE_H_ 32#define CERES_INTERNAL_DETECT_STRUCTURE_H_ 33 34#include "ceres/block_structure.h" 35 36namespace ceres { 37namespace internal { 38 39// Detect static blocks in the problem sparsity. For rows containing 40// e_blocks, we are interested in detecting if the size of the row 41// blocks, e_blocks and the f_blocks remain constant. If they do, then 42// we can use template specialization to improve the performance of 43// the block level linear algebra operations used by the 44// SchurEliminator. 45// 46// If a block size is not constant, we return Eigen::Dynamic as the 47// value. This just means that the eliminator uses dynamically sized 48// linear algebra operations rather than static operations whose size 49// is known as compile time. 50// 51// For more details about e_blocks and f_blocks, see 52// schur_eliminator.h. This information is used to initialized an 53// appropriate template specialization of SchurEliminator. 54void DetectStructure(const CompressedRowBlockStructure& bs, 55 const int num_eliminate_blocks, 56 int* row_block_size, 57 int* e_block_size, 58 int* f_block_size); 59 60} // namespace internal 61} // namespace ceres 62 63#endif // CERES_INTERNAL_DETECT_STRUCTURE_H_ 64