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Diffstat (limited to 'extern/ceres/internal/ceres/gradient_problem_evaluator.h')
-rw-r--r-- | extern/ceres/internal/ceres/gradient_problem_evaluator.h | 98 |
1 files changed, 98 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/gradient_problem_evaluator.h b/extern/ceres/internal/ceres/gradient_problem_evaluator.h new file mode 100644 index 00000000000..2c562544768 --- /dev/null +++ b/extern/ceres/internal/ceres/gradient_problem_evaluator.h @@ -0,0 +1,98 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2015 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: sameeragarwal@google.com (Sameer Agarwal) + +#ifndef CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_ +#define CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_ + +#include <map> +#include <string> + +#include "ceres/evaluator.h" +#include "ceres/execution_summary.h" +#include "ceres/gradient_problem.h" +#include "ceres/internal/port.h" +#include "ceres/wall_time.h" + +namespace ceres { +namespace internal { + +class GradientProblemEvaluator : public Evaluator { + public: + explicit GradientProblemEvaluator(const GradientProblem& problem) + : problem_(problem) {} + virtual ~GradientProblemEvaluator() {} + virtual SparseMatrix* CreateJacobian() const { return NULL; } + virtual bool Evaluate(const EvaluateOptions& evaluate_options, + const double* state, + double* cost, + double* residuals, + double* gradient, + SparseMatrix* jacobian) { + CHECK(jacobian == NULL); + ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_); + ScopedExecutionTimer call_type_timer( + gradient == NULL ? "Evaluator::Cost" : "Evaluator::Gradient", + &execution_summary_); + return problem_.Evaluate(state, cost, gradient); + } + + virtual bool Plus(const double* state, + const double* delta, + double* state_plus_delta) const { + return problem_.Plus(state, delta, state_plus_delta); + } + + virtual int NumParameters() const { + return problem_.NumParameters(); + } + + virtual int NumEffectiveParameters() const { + return problem_.NumLocalParameters(); + } + + virtual int NumResiduals() const { return 1; } + + virtual std::map<std::string, int> CallStatistics() const { + return execution_summary_.calls(); + } + + virtual std::map<std::string, double> TimeStatistics() const { + return execution_summary_.times(); + } + + private: + const GradientProblem& problem_; + ::ceres::internal::ExecutionSummary execution_summary_; +}; + +} // namespace internal +} // namespace ceres + +#endif // CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_ |