mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
092b94970a
The line search minimizer in Ceres does not require that the problems that is solving is a sum of squares. Over the past year there have been multiple requests to expose this algorithm on its own so that it can be used to solve unconstrained non-linear minimization problems on its own. With this change, a new optimization problem called GradientProblem is introduced which is basically a thin wrapper around a user defined functor that evaluates cost and gradients (FirstOrderFunction) and an optional LocalParameterization. Corresponding to it, a GradientProblemSolver and its associated options and summary structs are introduced too. An example that uses the new API to find the minimum of Rosenbrock's function is also added. Change-Id: I42bf687540da25de991e9bdb00e321239244e8b4
60 lines
2.6 KiB
C
60 lines
2.6 KiB
C
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2014 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: keir@google.com (Keir Mierle)
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//
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// This is a forwarding header containing the public symbols exported from
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// Ceres. Anything in the "ceres" namespace is available for use.
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#ifndef CERES_PUBLIC_CERES_H_
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#define CERES_PUBLIC_CERES_H_
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#include "ceres/autodiff_cost_function.h"
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#include "ceres/autodiff_local_parameterization.h"
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#include "ceres/cost_function.h"
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#include "ceres/cost_function_to_functor.h"
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#include "ceres/covariance.h"
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#include "ceres/crs_matrix.h"
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#include "ceres/dynamic_autodiff_cost_function.h"
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#include "ceres/dynamic_numeric_diff_cost_function.h"
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#include "ceres/gradient_problem.h"
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#include "ceres/gradient_problem_solver.h"
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#include "ceres/iteration_callback.h"
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#include "ceres/jet.h"
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#include "ceres/local_parameterization.h"
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#include "ceres/loss_function.h"
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#include "ceres/numeric_diff_cost_function.h"
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#include "ceres/ordered_groups.h"
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#include "ceres/problem.h"
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#include "ceres/sized_cost_function.h"
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#include "ceres/solver.h"
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#include "ceres/types.h"
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#include "ceres/version.h"
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#endif // CERES_PUBLIC_CERES_H_
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