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      1 // Ceres Solver - A fast non-linear least squares minimizer
      2 // Copyright 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_LINE_SEARCH_MINIMIZER_H_
     32 #define CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
     33 
     34 #ifndef CERES_NO_LINE_SEARCH_MINIMIZER
     35 
     36 #include "ceres/minimizer.h"
     37 #include "ceres/solver.h"
     38 #include "ceres/types.h"
     39 #include "ceres/internal/eigen.h"
     40 #include "glog/logging.h"
     41 
     42 namespace ceres {
     43 namespace internal {
     44 
     45 // Generic line search minimization algorithm.
     46 //
     47 // For example usage, see SolverImpl::Minimize.
     48 class LineSearchMinimizer : public Minimizer {
     49  public:
     50   struct State {
     51     State(int num_parameters,
     52           int num_effective_parameters)
     53         : cost(0.0),
     54           gradient(num_effective_parameters),
     55           gradient_squared_norm(0.0),
     56           search_direction(num_effective_parameters),
     57           directional_derivative(0.0),
     58           step_size(0.0) {
     59     }
     60 
     61     double cost;
     62     Vector gradient;
     63     double gradient_squared_norm;
     64     double gradient_max_norm;
     65     Vector search_direction;
     66     double directional_derivative;
     67     double step_size;
     68   };
     69 
     70   ~LineSearchMinimizer() {}
     71   virtual void Minimize(const Minimizer::Options& options,
     72                         double* parameters,
     73                         Solver::Summary* summary);
     74 };
     75 
     76 }  // namespace internal
     77 }  // namespace ceres
     78 
     79 #endif  // CERES_NO_LINE_SEARCH_MINIMIZER
     80 #endif  // CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
     81