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Diffstat (limited to 'internal/ceres/problem_impl.h')
| -rw-r--r-- | internal/ceres/problem_impl.h | 148 |
1 files changed, 148 insertions, 0 deletions
diff --git a/internal/ceres/problem_impl.h b/internal/ceres/problem_impl.h new file mode 100644 index 0000000..2f20d0d --- /dev/null +++ b/internal/ceres/problem_impl.h @@ -0,0 +1,148 @@ +// 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: keir@google.com (Keir Mierle) +// +// This is the implementation of the public Problem API. The pointer to +// implementation (PIMPL) idiom makes it possible for Ceres internal code to +// refer to the private data members without needing to exposing it to the +// world. An alternative to PIMPL is to have a factory which returns instances +// of a virtual base class; while that approach would work, it requires clients +// to always put a Problem object into a scoped pointer; this needlessly muddies +// client code for little benefit. Therefore, the PIMPL comprise was chosen. + +#ifndef CERES_PUBLIC_PROBLEM_IMPL_H_ +#define CERES_PUBLIC_PROBLEM_IMPL_H_ + +#include <map> +#include <vector> + +#include "ceres/internal/macros.h" +#include "ceres/internal/port.h" +#include "ceres/internal/scoped_ptr.h" +#include "ceres/problem.h" +#include "ceres/types.h" + +namespace ceres { + +class CostFunction; +class LossFunction; +class LocalParameterization; + +namespace internal { + +class Program; +class ResidualBlock; + +class ProblemImpl { + public: + typedef map<double*, ParameterBlock*> ParameterMap; + + ProblemImpl(); + explicit ProblemImpl(const Problem::Options& options); + + ~ProblemImpl(); + + // See the public problem.h file for description of these methods. + ResidualBlockId AddResidualBlock(CostFunction* cost_function, + LossFunction* loss_function, + const vector<double*>& parameter_blocks); + ResidualBlockId AddResidualBlock(CostFunction* cost_function, + LossFunction* loss_function, + double* x0); + ResidualBlockId AddResidualBlock(CostFunction* cost_function, + LossFunction* loss_function, + double* x0, double* x1); + ResidualBlockId AddResidualBlock(CostFunction* cost_function, + LossFunction* loss_function, + double* x0, double* x1, double* x2); + ResidualBlockId AddResidualBlock(CostFunction* cost_function, + LossFunction* loss_function, + double* x0, double* x1, double* x2, + double* x3); + ResidualBlockId AddResidualBlock(CostFunction* cost_function, + LossFunction* loss_function, + double* x0, double* x1, double* x2, + double* x3, double* x4); + ResidualBlockId AddResidualBlock(CostFunction* cost_function, + LossFunction* loss_function, + double* x0, double* x1, double* x2, + double* x3, double* x4, double* x5); + ResidualBlockId AddResidualBlock(CostFunction* cost_function, + LossFunction* loss_function, + double* x0, double* x1, double* x2, + double* x3, double* x4, double* x5, + double* x6); + ResidualBlockId AddResidualBlock(CostFunction* cost_function, + LossFunction* loss_function, + double* x0, double* x1, double* x2, + double* x3, double* x4, double* x5, + double* x6, double* x7); + ResidualBlockId AddResidualBlock(CostFunction* cost_function, + LossFunction* loss_function, + double* x0, double* x1, double* x2, + double* x3, double* x4, double* x5, + double* x6, double* x7, double* x8); + ResidualBlockId AddResidualBlock(CostFunction* cost_function, + LossFunction* loss_function, + double* x0, double* x1, double* x2, + double* x3, double* x4, double* x5, + double* x6, double* x7, double* x8, + double* x9); + void AddParameterBlock(double* values, int size); + void AddParameterBlock(double* values, + int size, + LocalParameterization* local_parameterization); + void SetParameterBlockConstant(double* values); + void SetParameterBlockVariable(double* values); + void SetParameterization(double* values, + LocalParameterization* local_parameterization); + int NumParameterBlocks() const; + int NumParameters() const; + int NumResidualBlocks() const; + int NumResiduals() const; + + const Program& program() const { return *program_; } + Program* mutable_program() { return program_.get(); } + + const ParameterMap& parameter_map() const { return parameter_block_map_; } + + private: + const Problem::Options options_; + + // The mapping from user pointers to parameter blocks. + map<double*, ParameterBlock*> parameter_block_map_; + + internal::scoped_ptr<internal::Program> program_; + CERES_DISALLOW_COPY_AND_ASSIGN(ProblemImpl); +}; + +} // namespace internal +} // namespace ceres + +#endif // CERES_PUBLIC_PROBLEM_IMPL_H_ |