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76 lines
3.2 KiB
76 lines
3.2 KiB
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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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 "Eigen/Core"
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namespace ceres {
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using Vector = Eigen::Matrix<double, Eigen::Dynamic, 1>;
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using Matrix =
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Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
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using VectorRef = Eigen::Map<Vector>;
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using MatrixRef = Eigen::Map<Matrix>;
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using ConstVectorRef = Eigen::Map<const Vector>;
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using ConstMatrixRef = Eigen::Map<const Matrix>;
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// Column major matrices for DenseSparseMatrix/DenseQRSolver
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using ColMajorMatrix =
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Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor>;
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using ColMajorMatrixRef =
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Eigen::Map<ColMajorMatrix, 0, Eigen::Stride<Eigen::Dynamic, 1>>;
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using ConstColMajorMatrixRef =
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Eigen::Map<const ColMajorMatrix, 0, Eigen::Stride<Eigen::Dynamic, 1>>;
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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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using Matrix =
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Eigen::Matrix<double,
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num_rows,
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num_cols,
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num_cols == 1 ? Eigen::ColMajor : Eigen::RowMajor>;
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using MatrixRef = Eigen::Map<Matrix>;
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using ConstMatrixRef = Eigen::Map<const Matrix>;
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using Vector = Eigen::Matrix<double, num_rows, 1>;
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using VectorRef = Eigen::Map<Eigen::Matrix<double, num_rows, 1>>;
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using ConstVectorRef = Eigen::Map<const Eigen::Matrix<double, num_rows, 1>>;
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};
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} // namespace ceres
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#endif // CERES_INTERNAL_EIGEN_H_
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