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      1 // Ceres Solver - A fast non-linear least squares minimizer
      2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
      3 // http://code.google.com/p/ceres-solver/
      4 //
      5 // Redistribution and use in source and binary forms, with or without
      6 // modification, are permitted provided that the following conditions are met:
      7 //
      8 // * Redistributions of source code must retain the above copyright notice,
      9 //   this list of conditions and the following disclaimer.
     10 // * Redistributions in binary form must reproduce the above copyright notice,
     11 //   this list of conditions and the following disclaimer in the documentation
     12 //   and/or other materials provided with the distribution.
     13 // * Neither the name of Google Inc. nor the names of its contributors may be
     14 //   used to endorse or promote products derived from this software without
     15 //   specific prior written permission.
     16 //
     17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
     18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
     19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
     20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
     21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
     22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
     23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
     24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
     25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
     26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
     27 // POSSIBILITY OF SUCH DAMAGE.
     28 //
     29 // Author: sameeragarwal (at) google.com (Sameer Agarwal)
     30 
     31 #ifndef CERES_INTERNAL_EIGEN_H_
     32 #define CERES_INTERNAL_EIGEN_H_
     33 
     34 #include "Eigen/Core"
     35 
     36 namespace ceres {
     37 
     38 using Eigen::Dynamic;
     39 using Eigen::RowMajor;
     40 
     41 typedef Eigen::Matrix<double, Dynamic, 1> Vector;
     42 typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix;
     43 typedef Eigen::Map<Vector> VectorRef;
     44 typedef Eigen::Map<Matrix> MatrixRef;
     45 typedef Eigen::Map<Matrix, Eigen::Aligned> AlignedMatrixRef;
     46 typedef Eigen::Map<const Vector> ConstVectorRef;
     47 typedef Eigen::Map<const Matrix, Eigen::Aligned> ConstAlignedMatrixRef;
     48 typedef Eigen::Map<const Matrix> ConstMatrixRef;
     49 
     50 // C++ does not support templated typdefs, thus the need for this
     51 // struct so that we can support statically sized Matrix and Maps.
     52 template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
     53 struct EigenTypes {
     54   typedef Eigen::Matrix <double, num_rows, num_cols, RowMajor>
     55   Matrix;
     56 
     57   typedef Eigen::Map<
     58     Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
     59   MatrixRef;
     60 
     61   typedef Eigen::Matrix <double, num_rows, 1>
     62   Vector;
     63 
     64   typedef Eigen::Map <
     65     Eigen::Matrix<double, num_rows, 1> >
     66   VectorRef;
     67 
     68 
     69   typedef Eigen::Map<
     70     const Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
     71   ConstMatrixRef;
     72 
     73   typedef Eigen::Map <
     74     const Eigen::Matrix<double, num_rows, 1> >
     75   ConstVectorRef;
     76 };
     77 
     78 }  // namespace ceres
     79 
     80 #endif  // CERES_INTERNAL_EIGEN_H_
     81