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Diffstat (limited to 'internal/ceres/minimizer.cc')
-rw-r--r-- | internal/ceres/minimizer.cc | 67 |
1 files changed, 67 insertions, 0 deletions
diff --git a/internal/ceres/minimizer.cc b/internal/ceres/minimizer.cc new file mode 100644 index 0000000..2e2c15a --- /dev/null +++ b/internal/ceres/minimizer.cc @@ -0,0 +1,67 @@ +// 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) + +#include "ceres/minimizer.h" +#include "ceres/types.h" +#include "glog/logging.h" + +namespace ceres { +namespace internal { + +Minimizer::~Minimizer() {} + +bool Minimizer::RunCallbacks(const vector<IterationCallback*> callbacks, + const IterationSummary& iteration_summary, + Solver::Summary* summary) { + CallbackReturnType status = SOLVER_CONTINUE; + int i = 0; + while (status == SOLVER_CONTINUE && i < callbacks.size()) { + status = (*callbacks[i])(iteration_summary); + ++i; + } + switch (status) { + case SOLVER_CONTINUE: + return true; + case SOLVER_TERMINATE_SUCCESSFULLY: + summary->termination_type = USER_SUCCESS; + VLOG(1) << "Terminating: User callback returned USER_SUCCESS."; + return false; + case SOLVER_ABORT: + summary->termination_type = USER_ABORT; + VLOG(1) << "Terminating: User callback returned USER_ABORT."; + return false; + default: + LOG(FATAL) << "Unknown type of user callback status"; + } + return false; +} + +} // namespace internal +} // namespace ceres |