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// 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_
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