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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)
#ifndef CERES_INTERNAL_PROGRAM_H_
#define CERES_INTERNAL_PROGRAM_H_
#include <string>
#include <vector>
#include "ceres/internal/port.h"
namespace ceres {
namespace internal {
class ParameterBlock;
class ProblemImpl;
class ResidualBlock;
// A nonlinear least squares optimization problem. This is different from the
// similarly-named "Problem" object, which offers a mutation interface for
// adding and modifying parameters and residuals. The Program contains the core
// part of the Problem, which is the parameters and the residuals, stored in a
// particular ordering. The ordering is critical, since it defines the mapping
// between (residual, parameter) pairs and a position in the jacobian of the
// objective function. Various parts of Ceres transform one Program into
// another; for example, the first stage of solving involves stripping all
// constant parameters and residuals. This is in contrast with Problem, which is
// not built for transformation.
class Program {
public:
Program();
explicit Program(const Program& program);
// The ordered parameter and residual blocks for the program.
const vector<ParameterBlock*>& parameter_blocks() const;
const vector<ResidualBlock*>& residual_blocks() const;
vector<ParameterBlock*>* mutable_parameter_blocks();
vector<ResidualBlock*>* mutable_residual_blocks();
// Serialize to/from the program and update states.
//
// NOTE: Setting the state of a parameter block can trigger the
// computation of the Jacobian of its local parameterization. If
// this computation fails for some reason, then this method returns
// false and the state of the parameter blocks cannot be trusted.
bool StateVectorToParameterBlocks(const double *state);
void ParameterBlocksToStateVector(double *state) const;
// Copy internal state to the user's parameters.
void CopyParameterBlockStateToUserState();
// Set the parameter block pointers to the user pointers. Since this
// runs parameter block set state internally, which may call local
// parameterizations, this can fail. False is returned on failure.
bool SetParameterBlockStatePtrsToUserStatePtrs();
// Update a state vector for the program given a delta.
bool Plus(const double* state,
const double* delta,
double* state_plus_delta) const;
// Set the parameter indices and offsets. This permits mapping backward
// from a ParameterBlock* to an index in the parameter_blocks() vector. For
// any parameter block p, after calling SetParameterOffsetsAndIndex(), it
// is true that
//
// parameter_blocks()[p->index()] == p
//
// If a parameter appears in a residual but not in the parameter block, then
// it will have an index of -1.
//
// This also updates p->state_offset() and p->delta_offset(), which are the
// position of the parameter in the state and delta vector respectively.
void SetParameterOffsetsAndIndex();
// See problem.h for what these do.
int NumParameterBlocks() const;
int NumParameters() const;
int NumEffectiveParameters() const;
int NumResidualBlocks() const;
int NumResiduals() const;
int MaxScratchDoublesNeededForEvaluate() const;
int MaxDerivativesPerResidualBlock() const;
int MaxParametersPerResidualBlock() const;
int MaxResidualsPerResidualBlock() const;
// A human-readable dump of the parameter blocks for debugging.
// TODO(keir): If necessary, also dump the residual blocks.
string ToString() const;
private:
// The Program does not own the ParameterBlock or ResidualBlock objects.
vector<ParameterBlock*> parameter_blocks_;
vector<ResidualBlock*> residual_blocks_;
friend class ProblemImpl;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_PROGRAM_H_
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