1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
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.
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
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24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
31 #ifndef CERES_INTERNAL_EIGEN_H_
32 #define CERES_INTERNAL_EIGEN_H_
38 typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
39 typedef Eigen::Matrix<double,
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;
48 // Column major matrices for DenseSparseMatrix/DenseQRSolver
49 typedef Eigen::Matrix<double,
52 Eigen::ColMajor> ColMajorMatrix;
54 typedef Eigen::Map<ColMajorMatrix, 0,
55 Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef;
57 typedef Eigen::Map<const ColMajorMatrix,
59 Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef;
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>
67 typedef Eigen::Matrix <double, num_rows, num_cols, Eigen::RowMajor>
71 Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
74 typedef Eigen::Matrix <double, num_rows, 1>
78 Eigen::Matrix<double, num_rows, 1> >
83 const Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
87 const Eigen::Matrix<double, num_rows, 1> >
93 #endif // CERES_INTERNAL_EIGEN_H_