1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 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_EIGEN_H_ 32 #define CERES_INTERNAL_EIGEN_H_ 33 34 #include "Eigen/Core" 35 36 namespace ceres { 37 38 typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector; 39 typedef Eigen::Matrix<double, 40 Eigen::Dynamic, 41 Eigen::Dynamic, 42 Eigen::RowMajor> Matrix; 43 typedef Eigen::Map<Vector> VectorRef; 44 typedef Eigen::Map<Matrix> MatrixRef; 45 typedef Eigen::Map<const Vector> ConstVectorRef; 46 typedef Eigen::Map<const Matrix> ConstMatrixRef; 47 48 // Column major matrices for DenseSparseMatrix/DenseQRSolver 49 typedef Eigen::Matrix<double, 50 Eigen::Dynamic, 51 Eigen::Dynamic, 52 Eigen::ColMajor> ColMajorMatrix; 53 54 typedef Eigen::Map<ColMajorMatrix, 0, 55 Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef; 56 57 typedef Eigen::Map<const ColMajorMatrix, 58 0, 59 Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef; 60 61 62 63 // C++ does not support templated typdefs, thus the need for this 64 // struct so that we can support statically sized Matrix and Maps. 65 template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic> 66 struct EigenTypes { 67 typedef Eigen::Matrix <double, num_rows, num_cols, Eigen::RowMajor> 68 Matrix; 69 70 typedef Eigen::Map< 71 Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> > 72 MatrixRef; 73 74 typedef Eigen::Matrix <double, num_rows, 1> 75 Vector; 76 77 typedef Eigen::Map < 78 Eigen::Matrix<double, num_rows, 1> > 79 VectorRef; 80 81 82 typedef Eigen::Map< 83 const Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> > 84 ConstMatrixRef; 85 86 typedef Eigen::Map < 87 const Eigen::Matrix<double, num_rows, 1> > 88 ConstVectorRef; 89 }; 90 91 } // namespace ceres 92 93 #endif // CERES_INTERNAL_EIGEN_H_ 94