mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
056ba9bb1d
This is to FirstOrderFunction, what AutoDiffCostFunction is to CostFunction. This allows users of GradientSolver to be able to define objective functions without requiring them to define the derivatives. The implementation uses the same Jet objects for computing the gradient as is used by AutoDiffCostFunction. Change-Id: Ide6e60532a3adab9be9899ba9b368dc267fd2dbb
56 lines
2.3 KiB
C++
56 lines
2.3 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2019 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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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_PUBLIC_FIRST_ORDER_FUNCTION_H_
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#define CERES_PUBLIC_FIRST_ORDER_FUNCTION_H_
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#include "ceres/internal/port.h"
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namespace ceres {
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// A FirstOrderFunction object implements the evaluation of a function
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// and its gradient.
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class CERES_EXPORT FirstOrderFunction {
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public:
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virtual ~FirstOrderFunction() {}
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// cost is never null. gradient may be null. The return value
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// indicates whether the evaluation was successful or not.
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virtual bool Evaluate(const double* const parameters,
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double* cost,
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double* gradient) const = 0;
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virtual int NumParameters() const = 0;
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};
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} // namespace ceres
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#endif // CERES_PUBLIC_FIRST_ORDER_FUNCTION_H_
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