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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_LINEAR_LEAST_SQUARES_PROBLEMS_H_
#define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
#include <memory>
#include <string>
#include <vector>
#include "ceres/internal/disable_warnings.h"
#include "ceres/internal/export.h"
#include "ceres/sparse_matrix.h"
namespace ceres {
namespace internal {
// Structure defining a linear least squares problem and if possible
// ground truth solutions. To be used by various LinearSolver tests.
struct CERES_NO_EXPORT LinearLeastSquaresProblem {
LinearLeastSquaresProblem() = default;
std::unique_ptr<SparseMatrix> A;
std::unique_ptr<double[]> b;
std::unique_ptr<double[]> D;
// If using the schur eliminator then how many of the variable
// blocks are e_type blocks.
int num_eliminate_blocks{0};
// Solution to min_x |Ax - b|^2
std::unique_ptr<double[]> x;
// Solution to min_x |Ax - b|^2 + |Dx|^2
std::unique_ptr<double[]> x_D;
};
// Factories for linear least squares problem.
CERES_NO_EXPORT std::unique_ptr<LinearLeastSquaresProblem>
CreateLinearLeastSquaresProblemFromId(int id);
CERES_NO_EXPORT
std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem0();
CERES_NO_EXPORT
std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem1();
CERES_NO_EXPORT
std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem2();
CERES_NO_EXPORT
std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem3();
CERES_NO_EXPORT
std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem4();
// Write the linear least squares problem to disk. The exact format
// depends on dump_format_type.
CERES_NO_EXPORT
bool DumpLinearLeastSquaresProblem(const std::string& filename_base,
DumpFormatType dump_format_type,
const SparseMatrix* A,
const double* D,
const double* b,
const double* x,
int num_eliminate_blocks);
} // namespace internal
} // namespace ceres
#include "ceres/internal/reenable_warnings.h"
#endif // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
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