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Diffstat (limited to 'include/ceres/internal/eigen.h')
| -rw-r--r-- | include/ceres/internal/eigen.h | 80 |
1 files changed, 80 insertions, 0 deletions
diff --git a/include/ceres/internal/eigen.h b/include/ceres/internal/eigen.h new file mode 100644 index 0000000..be76f9e --- /dev/null +++ b/include/ceres/internal/eigen.h @@ -0,0 +1,80 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: sameeragarwal@google.com (Sameer Agarwal) + +#ifndef CERES_INTERNAL_EIGEN_H_ +#define CERES_INTERNAL_EIGEN_H_ + +#include "Eigen/Core" + +namespace ceres { + +using Eigen::Dynamic; +using Eigen::RowMajor; + +typedef Eigen::Matrix<double, Dynamic, 1> Vector; +typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix; +typedef Eigen::Map<Vector> VectorRef; +typedef Eigen::Map<Matrix> MatrixRef; +typedef Eigen::Map<Matrix, Eigen::Aligned> AlignedMatrixRef; +typedef Eigen::Map<const Vector> ConstVectorRef; +typedef Eigen::Map<const Matrix, Eigen::Aligned> ConstAlignedMatrixRef; +typedef Eigen::Map<const Matrix> ConstMatrixRef; + +// C++ does not support templated typdefs, thus the need for this +// struct so that we can support statically sized Matrix and Maps. +template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic> +struct EigenTypes { + typedef Eigen::Matrix <double, num_rows, num_cols, RowMajor> + Matrix; + + typedef Eigen::Map< + Eigen::Matrix<double, num_rows, num_cols, RowMajor> > + MatrixRef; + + typedef Eigen::Matrix <double, num_rows, 1> + Vector; + + typedef Eigen::Map < + Eigen::Matrix<double, num_rows, 1> > + VectorRef; + + + typedef Eigen::Map< + const Eigen::Matrix<double, num_rows, num_cols, RowMajor> > + ConstMatrixRef; + + typedef Eigen::Map < + const Eigen::Matrix<double, num_rows, 1> > + ConstVectorRef; +}; + +} // namespace ceres + +#endif // CERES_INTERNAL_EIGEN_H_ |