1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
|
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// 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_EIGEN_H_
#define CERES_INTERNAL_EIGEN_H_
#include "Eigen/Core"
namespace ceres {
using Eigen::Dynamic;
using Eigen::RowMajor;
typedef Eigen::Matrix<double, Dynamic, 1> Vector;
typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix;
typedef Eigen::Map<Vector> VectorRef;
typedef Eigen::Map<Matrix> MatrixRef;
typedef Eigen::Map<Matrix, Eigen::Aligned> AlignedMatrixRef;
typedef Eigen::Map<const Vector> ConstVectorRef;
typedef Eigen::Map<const Matrix, Eigen::Aligned> ConstAlignedMatrixRef;
typedef Eigen::Map<const Matrix> ConstMatrixRef;
// 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 {
typedef Eigen::Matrix <double, num_rows, num_cols, RowMajor>
Matrix;
typedef Eigen::Map<
Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
MatrixRef;
typedef Eigen::Matrix <double, num_rows, 1>
Vector;
typedef Eigen::Map <
Eigen::Matrix<double, num_rows, 1> >
VectorRef;
typedef Eigen::Map<
const Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
ConstMatrixRef;
typedef Eigen::Map <
const Eigen::Matrix<double, num_rows, 1> >
ConstVectorRef;
};
} // namespace ceres
#endif // CERES_INTERNAL_EIGEN_H_
|
