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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_LINEAR_LEAST_SQUARES_PROBLEMS_H_
     32 #define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
     33 
     34 #include <string>
     35 #include <vector>
     36 #include "ceres/sparse_matrix.h"
     37 #include "ceres/internal/port.h"
     38 #include "ceres/internal/scoped_ptr.h"
     39 
     40 namespace ceres {
     41 namespace internal {
     42 
     43 // Structure defining a linear least squares problem and if possible
     44 // ground truth solutions. To be used by various LinearSolver tests.
     45 struct LinearLeastSquaresProblem {
     46   LinearLeastSquaresProblem()
     47       : A(NULL), b(NULL), D(NULL), num_eliminate_blocks(0),
     48         x(NULL), x_D(NULL) {
     49   }
     50 
     51   scoped_ptr<SparseMatrix> A;
     52   scoped_array<double> b;
     53   scoped_array<double> D;
     54   // If using the schur eliminator then how many of the variable
     55   // blocks are e_type blocks.
     56   int num_eliminate_blocks;
     57 
     58   // Solution to min_x |Ax - b|^2
     59   scoped_array<double> x;
     60   // Solution to min_x |Ax - b|^2 + |Dx|^2
     61   scoped_array<double> x_D;
     62 };
     63 
     64 // Factories for linear least squares problem.
     65 LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id);
     66 
     67 LinearLeastSquaresProblem* LinearLeastSquaresProblem0();
     68 LinearLeastSquaresProblem* LinearLeastSquaresProblem1();
     69 LinearLeastSquaresProblem* LinearLeastSquaresProblem2();
     70 LinearLeastSquaresProblem* LinearLeastSquaresProblem3();
     71 
     72 // Write the linear least squares problem to disk. The exact format
     73 // depends on dump_format_type.
     74 bool DumpLinearLeastSquaresProblem(const string& filename_base,
     75                                    DumpFormatType dump_format_type,
     76                                    const SparseMatrix* A,
     77                                    const double* D,
     78                                    const double* b,
     79                                    const double* x,
     80                                    int num_eliminate_blocks);
     81 }  // namespace internal
     82 }  // namespace ceres
     83 
     84 #endif  // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
     85