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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 typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
     39 typedef Eigen::Matrix<double,
     40                       Eigen::Dynamic,
     41                       Eigen::Dynamic,
     42                       Eigen::RowMajor> Matrix;
     43 typedef Eigen::Map<Vector> VectorRef;
     44 typedef Eigen::Map<Matrix> MatrixRef;
     45 typedef Eigen::Map<const Vector> ConstVectorRef;
     46 typedef Eigen::Map<const Matrix> ConstMatrixRef;
     47 
     48 // Column major matrices for DenseSparseMatrix/DenseQRSolver
     49 typedef Eigen::Matrix<double,
     50                       Eigen::Dynamic,
     51                       Eigen::Dynamic,
     52                       Eigen::ColMajor> ColMajorMatrix;
     53 
     54 typedef Eigen::Map<ColMajorMatrix, 0,
     55                    Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef;
     56 
     57 typedef Eigen::Map<const ColMajorMatrix,
     58                    0,
     59                    Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef;
     60 
     61 
     62 
     63 // C++ does not support templated typdefs, thus the need for this
     64 // struct so that we can support statically sized Matrix and Maps.
     65 template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
     66 struct EigenTypes {
     67   typedef Eigen::Matrix <double, num_rows, num_cols, Eigen::RowMajor>
     68   Matrix;
     69 
     70   typedef Eigen::Map<
     71     Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
     72   MatrixRef;
     73 
     74   typedef Eigen::Matrix <double, num_rows, 1>
     75   Vector;
     76 
     77   typedef Eigen::Map <
     78     Eigen::Matrix<double, num_rows, 1> >
     79   VectorRef;
     80 
     81 
     82   typedef Eigen::Map<
     83     const Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
     84   ConstMatrixRef;
     85 
     86   typedef Eigen::Map <
     87     const Eigen::Matrix<double, num_rows, 1> >
     88   ConstVectorRef;
     89 };
     90 
     91 }  // namespace ceres
     92 
     93 #endif  // CERES_INTERNAL_EIGEN_H_
     94