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