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_DETECT_STRUCTURE_H_ 32 #define CERES_INTERNAL_DETECT_STRUCTURE_H_ 33 34 #include "ceres/block_structure.h" 35 36 namespace ceres { 37 namespace internal { 38 39 // Detect static blocks in the problem sparsity. For rows containing 40 // e_blocks, we are interested in detecting if the size of the row 41 // blocks, e_blocks and the f_blocks remain constant. If they do, then 42 // we can use template specialization to improve the performance of 43 // the block level linear algebra operations used by the 44 // SchurEliminator. 45 // 46 // If a block size is not constant, we return Eigen::Dynamic as the 47 // value. This just means that the eliminator uses dynamically sized 48 // linear algebra operations rather than static operations whose size 49 // is known as compile time. 50 // 51 // For more details about e_blocks and f_blocks, see 52 // schur_eliminator.h. This information is used to initialized an 53 // appropriate template specialization of SchurEliminator. 54 void DetectStructure(const CompressedRowBlockStructure& bs, 55 const int num_eliminate_blocks, 56 int* row_block_size, 57 int* e_block_size, 58 int* f_block_size); 59 60 } // namespace internal 61 } // namespace ceres 62 63 #endif // CERES_INTERNAL_DETECT_STRUCTURE_H_ 64
