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: keir (at) google.com (Keir Mierle) 30 31 #ifndef CERES_INTERNAL_SOLVER_IMPL_H_ 32 #define CERES_INTERNAL_SOLVER_IMPL_H_ 33 34 #include <set> 35 #include <string> 36 #include <vector> 37 #include "ceres/internal/port.h" 38 #include "ceres/ordered_groups.h" 39 #include "ceres/problem_impl.h" 40 #include "ceres/solver.h" 41 42 namespace ceres { 43 namespace internal { 44 45 class CoordinateDescentMinimizer; 46 class Evaluator; 47 class LinearSolver; 48 class Program; 49 class TripletSparseMatrix; 50 51 class SolverImpl { 52 public: 53 // Mirrors the interface in solver.h, but exposes implementation 54 // details for testing internally. 55 static void Solve(const Solver::Options& options, 56 ProblemImpl* problem_impl, 57 Solver::Summary* summary); 58 59 static void TrustRegionSolve(const Solver::Options& options, 60 ProblemImpl* problem_impl, 61 Solver::Summary* summary); 62 63 // Run the TrustRegionMinimizer for the given evaluator and configuration. 64 static void TrustRegionMinimize( 65 const Solver::Options &options, 66 Program* program, 67 CoordinateDescentMinimizer* inner_iteration_minimizer, 68 Evaluator* evaluator, 69 LinearSolver* linear_solver, 70 Solver::Summary* summary); 71 72 static void LineSearchSolve(const Solver::Options& options, 73 ProblemImpl* problem_impl, 74 Solver::Summary* summary); 75 76 // Run the LineSearchMinimizer for the given evaluator and configuration. 77 static void LineSearchMinimize(const Solver::Options &options, 78 Program* program, 79 Evaluator* evaluator, 80 Solver::Summary* summary); 81 82 // Create the transformed Program, which has all the fixed blocks 83 // and residuals eliminated, and in the case of automatic schur 84 // ordering, has the E blocks first in the resulting program, with 85 // options.num_eliminate_blocks set appropriately. 86 // 87 // If fixed_cost is not NULL, the residual blocks that are removed 88 // are evaluated and the sum of their cost is returned in fixed_cost. 89 static Program* CreateReducedProgram(Solver::Options* options, 90 ProblemImpl* problem_impl, 91 double* fixed_cost, 92 string* message); 93 94 // Create the appropriate linear solver, taking into account any 95 // config changes decided by CreateTransformedProgram(). The 96 // selected linear solver, which may be different from what the user 97 // selected; consider the case that the remaining elimininated 98 // blocks is zero after removing fixed blocks. 99 static LinearSolver* CreateLinearSolver(Solver::Options* options, 100 string* message); 101 102 // Create the appropriate evaluator for the transformed program. 103 static Evaluator* CreateEvaluator( 104 const Solver::Options& options, 105 const ProblemImpl::ParameterMap& parameter_map, 106 Program* program, 107 string* message); 108 109 static bool IsOrderingValid(const Solver::Options& options, 110 const ProblemImpl* problem_impl, 111 string* message); 112 113 static bool IsParameterBlockSetIndependent( 114 const set<double*>& parameter_block_ptrs, 115 const vector<ResidualBlock*>& residual_blocks); 116 117 static CoordinateDescentMinimizer* CreateInnerIterationMinimizer( 118 const Solver::Options& options, 119 const Program& program, 120 const ProblemImpl::ParameterMap& parameter_map, 121 Solver::Summary* summary); 122 }; 123 124 } // namespace internal 125 } // namespace ceres 126 127 #endif // CERES_INTERNAL_SOLVER_IMPL_H_ 128
