| // 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) | |
| namespace ceres { | |
| using Vector = Eigen::Matrix<double, Eigen::Dynamic, 1>; | |
| using Matrix = | |
| Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>; | |
| using VectorRef = Eigen::Map<Vector>; | |
| using MatrixRef = Eigen::Map<Matrix>; | |
| using ConstVectorRef = Eigen::Map<const Vector>; | |
| using ConstMatrixRef = Eigen::Map<const Matrix>; | |
| // Column major matrices for DenseSparseMatrix/DenseQRSolver | |
| using ColMajorMatrix = | |
| Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor>; | |
| using ColMajorMatrixRef = | |
| Eigen::Map<ColMajorMatrix, 0, Eigen::Stride<Eigen::Dynamic, 1>>; | |
| using ConstColMajorMatrixRef = | |
| Eigen::Map<const ColMajorMatrix, 0, Eigen::Stride<Eigen::Dynamic, 1>>; | |
| // C++ does not support templated typdefs, thus the need for this | |
| // struct so that we can support statically sized Matrix and Maps. | |
| template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic> | |
| struct EigenTypes { | |
| using Matrix = | |
| Eigen::Matrix<double, | |
| num_rows, | |
| num_cols, | |
| num_cols == 1 ? Eigen::ColMajor : Eigen::RowMajor>; | |
| using MatrixRef = Eigen::Map<Matrix>; | |
| using ConstMatrixRef = Eigen::Map<const Matrix>; | |
| using Vector = Eigen::Matrix<double, num_rows, 1>; | |
| using VectorRef = Eigen::Map<Eigen::Matrix<double, num_rows, 1>>; | |
| using ConstVectorRef = Eigen::Map<const Eigen::Matrix<double, num_rows, 1>>; | |
| }; | |
| } // namespace ceres | |