mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
a9d8ef847f
unnecessarily complexity in the structure of linear solvers and preconditioners. This is the first step towards cleaning up the Preconditioner interface. 2. Minor tweaks and cleanups to the various linear solvers.
64 lines
2.9 KiB
C++
64 lines
2.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 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: sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_DETECT_STRUCTURE_H_
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#define CERES_INTERNAL_DETECT_STRUCTURE_H_
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#include "ceres/block_structure.h"
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namespace ceres {
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namespace internal {
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// Detect static blocks in the problem sparsity. For rows containing
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// e_blocks, we are interested in detecting if the size of the row
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// blocks, e_blocks and the f_blocks remain constant. If they do, then
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// we can use template specialization to improve the performance of
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// the block level linear algebra operations used by the
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// SchurEliminator.
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//
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// If a block size is not constant, we return Eigen::Dynamic as the
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// value. This just means that the eliminator uses dynamically sized
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// linear algebra operations rather than static operations whose size
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// is known as compile time.
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//
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// For more details about e_blocks and f_blocks, see
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// schur_eliminator.h. This information is used to initialized an
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// appropriate template specialization of SchurEliminator.
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void DetectStructure(const CompressedRowBlockStructure& bs,
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const int num_eliminate_blocks,
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int* row_block_size,
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int* e_block_size,
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int* f_block_size);
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_DETECT_STRUCTURE_H_
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