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// 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: keir@google.com (Keir Mierle)
//
// A jacobian writer that directly writes to compressed row sparse matrices.
#ifndef CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
#define CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
#include <utility>
#include <vector>
#include "ceres/evaluator.h"
#include "ceres/scratch_evaluate_preparer.h"
namespace ceres {
namespace internal {
class CompressedRowSparseMatrix;
class Program;
class SparseMatrix;
class CompressedRowJacobianWriter {
public:
CompressedRowJacobianWriter(Evaluator::Options /* ignored */,
Program* program)
: program_(program) {}
// PopulateJacobianRowAndColumnBlockVectors sets col_blocks and
// row_blocks for a CompressedRowSparseMatrix, based on the
// parameter block sizes and residual sizes respectively from the
// program. This is useful when Solver::Options::use_block_amd =
// true;
//
// This function is static so that it is available to other jacobian
// writers which use CompressedRowSparseMatrix (or derived types).
// (Jacobian writers do not fall under any type hierarchy; they only
// have to provide an interface as specified in program_evaluator.h).
static void PopulateJacobianRowAndColumnBlockVectors(
const Program* program, CompressedRowSparseMatrix* jacobian);
// It is necessary to determine the order of the jacobian blocks
// before copying them into a CompressedRowSparseMatrix (or derived
// type). Just because a cost function uses parameter blocks 1
// after 2 in its arguments does not mean that the block 1 occurs
// before block 2 in the column layout of the jacobian. Thus,
// GetOrderedParameterBlocks determines the order by sorting the
// jacobian blocks by their position in the state vector.
//
// This function is static so that it is available to other jacobian
// writers which use CompressedRowSparseMatrix (or derived types).
// (Jacobian writers do not fall under any type hierarchy; they only
// have to provide an interface as specified in
// program_evaluator.h).
static void GetOrderedParameterBlocks(
const Program* program,
int residual_id,
std::vector<std::pair<int, int>>* evaluated_jacobian_blocks);
// JacobianWriter interface.
// Since the compressed row matrix has different layout than that
// assumed by the cost functions, use scratch space to store the
// jacobians temporarily then copy them over to the larger jacobian
// in the Write() function.
ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
return ScratchEvaluatePreparer::Create(*program_, num_threads);
}
SparseMatrix* CreateJacobian() const;
void Write(int residual_id,
int residual_offset,
double** jacobians,
SparseMatrix* base_jacobian);
private:
Program* program_;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
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