1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2012 Google Inc. All rights reserved. 3 // http://code.google.com/p/ceres-solver/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: sameeragarwal@google.com (Sameer Agarwal) 30 31 #ifndef CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_ 32 #define CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_ 33 34 #include "ceres/minimizer.h" 35 #include "ceres/solver.h" 36 #include "ceres/types.h" 37 38 namespace ceres { 39 namespace internal { 40 41 // Generic trust region minimization algorithm. The heavy lifting is 42 // done by a TrustRegionStrategy object passed in as one of the 43 // arguments to the Minimize method. 44 // 45 // For example usage, see SolverImpl::Minimize. 46 class TrustRegionMinimizer : public Minimizer { 47 public: ~TrustRegionMinimizer()48 ~TrustRegionMinimizer() {} 49 virtual void Minimize(const Minimizer::Options& options, 50 double* parameters, 51 Solver::Summary* summary); 52 53 private: 54 void Init(const Minimizer::Options& options); 55 void EstimateScale(const SparseMatrix& jacobian, double* scale) const; 56 CallbackReturnType RunCallbacks(const IterationSummary& iteration_summary); 57 bool MaybeDumpLinearLeastSquaresProblem( const int iteration, 58 const SparseMatrix* jacobian, 59 const double* residuals, 60 const double* step) const; 61 62 Minimizer::Options options_; 63 }; 64 65 } // namespace internal 66 } // namespace ceres 67 #endif // CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_ 68