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-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// 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: keir@google.com (Keir Mierle)
-//
-// This is the implementation of the public Problem API. The pointer to
-// implementation (PIMPL) idiom makes it possible for Ceres internal code to
-// refer to the private data members without needing to exposing it to the
-// world. An alternative to PIMPL is to have a factory which returns instances
-// of a virtual base class; while that approach would work, it requires clients
-// to always put a Problem object into a scoped pointer; this needlessly muddies
-// client code for little benefit. Therefore, the PIMPL comprise was chosen.
-
-#ifndef CERES_PUBLIC_PROBLEM_IMPL_H_
-#define CERES_PUBLIC_PROBLEM_IMPL_H_
-
-#include <map>
-#include <vector>
-
-#include "ceres/internal/macros.h"
-#include "ceres/internal/port.h"
-#include "ceres/internal/scoped_ptr.h"
-#include "ceres/collections_port.h"
-#include "ceres/problem.h"
-#include "ceres/types.h"
-
-namespace ceres {
-
-class CostFunction;
-class LossFunction;
-class LocalParameterization;
-struct CRSMatrix;
-
-namespace internal {
-
-class Program;
-class ResidualBlock;
-
-class ProblemImpl {
- public:
- typedef map<double*, ParameterBlock*> ParameterMap;
- typedef HashSet<ResidualBlock*> ResidualBlockSet;
-
- ProblemImpl();
- explicit ProblemImpl(const Problem::Options& options);
-
- ~ProblemImpl();
-
- // See the public problem.h file for description of these methods.
- ResidualBlockId AddResidualBlock(CostFunction* cost_function,
- LossFunction* loss_function,
- const vector<double*>& parameter_blocks);
- ResidualBlockId AddResidualBlock(CostFunction* cost_function,
- LossFunction* loss_function,
- double* x0);
- ResidualBlockId AddResidualBlock(CostFunction* cost_function,
- LossFunction* loss_function,
- double* x0, double* x1);
- ResidualBlockId AddResidualBlock(CostFunction* cost_function,
- LossFunction* loss_function,
- double* x0, double* x1, double* x2);
- ResidualBlockId AddResidualBlock(CostFunction* cost_function,
- LossFunction* loss_function,
- double* x0, double* x1, double* x2,
- double* x3);
- ResidualBlockId AddResidualBlock(CostFunction* cost_function,
- LossFunction* loss_function,
- double* x0, double* x1, double* x2,
- double* x3, double* x4);
- ResidualBlockId AddResidualBlock(CostFunction* cost_function,
- LossFunction* loss_function,
- double* x0, double* x1, double* x2,
- double* x3, double* x4, double* x5);
- ResidualBlockId AddResidualBlock(CostFunction* cost_function,
- LossFunction* loss_function,
- double* x0, double* x1, double* x2,
- double* x3, double* x4, double* x5,
- double* x6);
- ResidualBlockId AddResidualBlock(CostFunction* cost_function,
- LossFunction* loss_function,
- double* x0, double* x1, double* x2,
- double* x3, double* x4, double* x5,
- double* x6, double* x7);
- ResidualBlockId AddResidualBlock(CostFunction* cost_function,
- LossFunction* loss_function,
- double* x0, double* x1, double* x2,
- double* x3, double* x4, double* x5,
- double* x6, double* x7, double* x8);
- ResidualBlockId AddResidualBlock(CostFunction* cost_function,
- LossFunction* loss_function,
- double* x0, double* x1, double* x2,
- double* x3, double* x4, double* x5,
- double* x6, double* x7, double* x8,
- double* x9);
- void AddParameterBlock(double* values, int size);
- void AddParameterBlock(double* values,
- int size,
- LocalParameterization* local_parameterization);
-
- void RemoveResidualBlock(ResidualBlock* residual_block);
- void RemoveParameterBlock(double* values);
-
- void SetParameterBlockConstant(double* values);
- void SetParameterBlockVariable(double* values);
- void SetParameterization(double* values,
- LocalParameterization* local_parameterization);
- const LocalParameterization* GetParameterization(double* values) const;
-
- void SetParameterLowerBound(double* values, int index, double lower_bound);
- void SetParameterUpperBound(double* values, int index, double upper_bound);
-
- bool Evaluate(const Problem::EvaluateOptions& options,
- double* cost,
- vector<double>* residuals,
- vector<double>* gradient,
- CRSMatrix* jacobian);
-
- int NumParameterBlocks() const;
- int NumParameters() const;
- int NumResidualBlocks() const;
- int NumResiduals() const;
-
- int ParameterBlockSize(const double* parameter_block) const;
- int ParameterBlockLocalSize(const double* parameter_block) const;
-
- bool HasParameterBlock(const double* parameter_block) const;
-
- void GetParameterBlocks(vector<double*>* parameter_blocks) const;
- void GetResidualBlocks(vector<ResidualBlockId>* residual_blocks) const;
-
- void GetParameterBlocksForResidualBlock(
- const ResidualBlockId residual_block,
- vector<double*>* parameter_blocks) const;
-
- const CostFunction* GetCostFunctionForResidualBlock(
- const ResidualBlockId residual_block) const;
- const LossFunction* GetLossFunctionForResidualBlock(
- const ResidualBlockId residual_block) const;
-
- void GetResidualBlocksForParameterBlock(
- const double* values,
- vector<ResidualBlockId>* residual_blocks) const;
-
- const Program& program() const { return *program_; }
- Program* mutable_program() { return program_.get(); }
-
- const ParameterMap& parameter_map() const { return parameter_block_map_; }
- const ResidualBlockSet& residual_block_set() const {
- CHECK(options_.enable_fast_removal)
- << "Fast removal not enabled, residual_block_set is not maintained.";
- return residual_block_set_;
- }
-
- private:
- ParameterBlock* InternalAddParameterBlock(double* values, int size);
- void InternalRemoveResidualBlock(ResidualBlock* residual_block);
-
- bool InternalEvaluate(Program* program,
- double* cost,
- vector<double>* residuals,
- vector<double>* gradient,
- CRSMatrix* jacobian);
-
- // Delete the arguments in question. These differ from the Remove* functions
- // in that they do not clean up references to the block to delete; they
- // merely delete them.
- template<typename Block>
- void DeleteBlockInVector(vector<Block*>* mutable_blocks,
- Block* block_to_remove);
- void DeleteBlock(ResidualBlock* residual_block);
- void DeleteBlock(ParameterBlock* parameter_block);
-
- const Problem::Options options_;
-
- // The mapping from user pointers to parameter blocks.
- map<double*, ParameterBlock*> parameter_block_map_;
-
- // Iff enable_fast_removal is enabled, contains the current residual blocks.
- ResidualBlockSet residual_block_set_;
-
- // The actual parameter and residual blocks.
- internal::scoped_ptr<internal::Program> program_;
-
- // When removing residual and parameter blocks, cost/loss functions and
- // parameterizations have ambiguous ownership. Instead of scanning the entire
- // problem to see if the cost/loss/parameterization is shared with other
- // residual or parameter blocks, buffer them until destruction.
- //
- // TODO(keir): See if it makes sense to use sets instead.
- vector<CostFunction*> cost_functions_to_delete_;
- vector<LossFunction*> loss_functions_to_delete_;
- vector<LocalParameterization*> local_parameterizations_to_delete_;
-
- CERES_DISALLOW_COPY_AND_ASSIGN(ProblemImpl);
-};
-
-} // namespace internal
-} // namespace ceres
-
-#endif // CERES_PUBLIC_PROBLEM_IMPL_H_
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