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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: richie.stebbing@gmail.com (Richard Stebbing)
//
// A jacobian writer that directly writes to dynamic compressed row sparse
// matrices.
#ifndef CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_
#define CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_
#include "ceres/evaluator.h"
#include "ceres/scratch_evaluate_preparer.h"
namespace ceres {
namespace internal {
class Program;
class SparseMatrix;
class DynamicCompressedRowJacobianWriter {
public:
DynamicCompressedRowJacobianWriter(Evaluator::Options /* ignored */,
Program* program)
: program_(program) {}
// JacobianWriter interface.
// The compressed row matrix has different layout than that assumed by
// the cost functions. The scratch space is therefore used to store
// the jacobians (including zeros) temporarily before only the non-zero
// entries are copied over to the larger jacobian in `Write`.
ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads);
// Return a `DynamicCompressedRowSparseMatrix` which is filled by
// `Write`. Note that `Finalize` must be called to make the
// `CompressedRowSparseMatrix` interface valid.
SparseMatrix* CreateJacobian() const;
// Write only the non-zero jacobian entries for a residual block
// (specified by `residual_id`) into `base_jacobian`, starting at the row
// specifed by `residual_offset`.
//
// This method is thread-safe over residual blocks (each `residual_id`).
void Write(int residual_id,
int residual_offset,
double** jacobians,
SparseMatrix* base_jacobian);
private:
Program* program_;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_
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