94 lines
3.4 KiB
C++
94 lines
3.4 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_EIGEN_H_
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#define CERES_INTERNAL_EIGEN_H_
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#include <gtsam/3rdparty/gtsam_eigen_includes.h>
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namespace ceres {
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typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
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typedef Eigen::Matrix<double,
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Eigen::Dynamic,
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Eigen::Dynamic,
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Eigen::RowMajor> Matrix;
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typedef Eigen::Map<Vector> VectorRef;
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typedef Eigen::Map<Matrix> MatrixRef;
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typedef Eigen::Map<const Vector> ConstVectorRef;
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typedef Eigen::Map<const Matrix> ConstMatrixRef;
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// Column major matrices for DenseSparseMatrix/DenseQRSolver
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typedef Eigen::Matrix<double,
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Eigen::Dynamic,
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Eigen::Dynamic,
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Eigen::ColMajor> ColMajorMatrix;
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typedef Eigen::Map<ColMajorMatrix, 0,
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Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef;
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typedef Eigen::Map<const ColMajorMatrix,
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0,
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Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef;
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// C++ does not support templated typdefs, thus the need for this
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// struct so that we can support statically sized Matrix and Maps.
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template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
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struct EigenTypes {
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typedef Eigen::Matrix <double, num_rows, num_cols, Eigen::RowMajor>
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Matrix;
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typedef Eigen::Map<
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Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
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MatrixRef;
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typedef Eigen::Matrix <double, num_rows, 1>
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Vector;
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typedef Eigen::Map <
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Eigen::Matrix<double, num_rows, 1> >
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VectorRef;
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typedef Eigen::Map<
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const Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
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ConstMatrixRef;
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typedef Eigen::Map <
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const Eigen::Matrix<double, num_rows, 1> >
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ConstVectorRef;
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};
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} // namespace ceres
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#endif // CERES_INTERNAL_EIGEN_H_
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