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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: 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() {}
SparseMatrix* CreateJacobian() const final { return nullptr; }
bool Evaluate(const EvaluateOptions& evaluate_options,
const double* state,
double* cost,
double* residuals,
double* gradient,
SparseMatrix* jacobian) final {
CHECK(jacobian == NULL);
ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_);
// The reason we use Residual and Jacobian here even when we are
// only computing the cost and gradient has to do with the fact
// that the line search minimizer code is used by both the
// GradientProblemSolver and the main CeresSolver coder where the
// Evaluator evaluates the Jacobian, and these magic strings need
// to be consistent across the code base for the time accounting
// to work.
ScopedExecutionTimer call_type_timer(
gradient == NULL ? "Evaluator::Residual" : "Evaluator::Jacobian",
&execution_summary_);
return problem_.Evaluate(state, cost, gradient);
}
bool Plus(const double* state,
const double* delta,
double* state_plus_delta) const final {
return problem_.Plus(state, delta, state_plus_delta);
}
int NumParameters() const final { return problem_.NumParameters(); }
int NumEffectiveParameters() const final {
return problem_.NumLocalParameters();
}
int NumResiduals() const final { return 1; }
std::map<std::string, internal::CallStatistics> Statistics() const final {
return execution_summary_.statistics();
}
private:
const GradientProblem& problem_;
::ceres::internal::ExecutionSummary execution_summary_;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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