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// 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: keir@google.com (Keir Mierle)
#ifndef CERES_INTERNAL_SOLVER_IMPL_H_
#define CERES_INTERNAL_SOLVER_IMPL_H_
#include <string>
#include <vector>
#include "ceres/internal/port.h"
#include "ceres/ordered_groups.h"
#include "ceres/problem_impl.h"
#include "ceres/solver.h"
namespace ceres {
namespace internal {
class CoordinateDescentMinimizer;
class Evaluator;
class LinearSolver;
class Program;
class SolverImpl {
public:
// Mirrors the interface in solver.h, but exposes implementation
// details for testing internally.
static void Solve(const Solver::Options& options,
ProblemImpl* problem_impl,
Solver::Summary* summary);
// Create the transformed Program, which has all the fixed blocks
// and residuals eliminated, and in the case of automatic schur
// ordering, has the E blocks first in the resulting program, with
// options.num_eliminate_blocks set appropriately.
//
// If fixed_cost is not NULL, the residual blocks that are removed
// are evaluated and the sum of their cost is returned in fixed_cost.
static Program* CreateReducedProgram(Solver::Options* options,
ProblemImpl* problem_impl,
double* fixed_cost,
string* error);
// Create the appropriate linear solver, taking into account any
// config changes decided by CreateTransformedProgram(). The
// selected linear solver, which may be different from what the user
// selected; consider the case that the remaining elimininated
// blocks is zero after removing fixed blocks.
static LinearSolver* CreateLinearSolver(Solver::Options* options,
string* error);
// Reorder the parameter blocks in program using the ordering. A
// return value of true indicates success and false indicates an
// error was encountered whose cause is logged to LOG(ERROR).
static bool ApplyUserOrdering(const ProblemImpl::ParameterMap& parameter_map,
const ParameterBlockOrdering* ordering,
Program* program,
string* error);
// Reorder the residuals for program, if necessary, so that the
// residuals involving e block (i.e., the first num_eliminate_block
// parameter blocks) occur together. This is a necessary condition
// for the Schur eliminator.
static bool LexicographicallyOrderResidualBlocks(
const int num_eliminate_blocks,
Program* program,
string* error);
// Create the appropriate evaluator for the transformed program.
static Evaluator* CreateEvaluator(
const Solver::Options& options,
const ProblemImpl::ParameterMap& parameter_map,
Program* program,
string* error);
// Run the minimization for the given evaluator and configuration.
static void Minimize(const Solver::Options &options,
Program* program,
CoordinateDescentMinimizer* inner_iteration_minimizer,
Evaluator* evaluator,
LinearSolver* linear_solver,
double* parameters,
Solver::Summary* summary);
// Remove the fixed or unused parameter blocks and residuals
// depending only on fixed parameters from the problem. Also updates
// num_eliminate_blocks, since removed parameters changes the point
// at which the eliminated blocks is valid. If fixed_cost is not
// NULL, the residual blocks that are removed are evaluated and the
// sum of their cost is returned in fixed_cost.
static bool RemoveFixedBlocksFromProgram(Program* program,
ParameterBlockOrdering* ordering,
double* fixed_cost,
string* error);
static bool IsOrderingValid(const Solver::Options& options,
const ProblemImpl* problem_impl,
string* error);
static bool IsParameterBlockSetIndependent(
const set<double*>& parameter_block_ptrs,
const vector<ResidualBlock*>& residual_blocks);
static CoordinateDescentMinimizer* CreateInnerIterationMinimizer(
const Solver::Options& options,
const Program& program,
const ProblemImpl::ParameterMap& parameter_map,
string* error);
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_SOLVER_IMPL_H_
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