1 // Ceres Solver - A fast non-linear least squares minimizer
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3 // http://code.google.com/p/ceres-solver/
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30 
31 #ifndef CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
32 #define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
33 
34 #include <string>
35 #include <vector>
36 #include "ceres/sparse_matrix.h"
37 #include "ceres/internal/port.h"
38 #include "ceres/internal/scoped_ptr.h"
39 
40 namespace ceres {
41 namespace internal {
42 
43 // Structure defining a linear least squares problem and if possible
44 // ground truth solutions. To be used by various LinearSolver tests.
45 struct LinearLeastSquaresProblem {
LinearLeastSquaresProblemLinearLeastSquaresProblem46   LinearLeastSquaresProblem()
47       : A(NULL), b(NULL), D(NULL), num_eliminate_blocks(0),
48         x(NULL), x_D(NULL) {
49   }
50 
51   scoped_ptr<SparseMatrix> A;
52   scoped_array<double> b;
53   scoped_array<double> D;
54   // If using the schur eliminator then how many of the variable
55   // blocks are e_type blocks.
56   int num_eliminate_blocks;
57 
58   // Solution to min_x |Ax - b|^2
59   scoped_array<double> x;
60   // Solution to min_x |Ax - b|^2 + |Dx|^2
61   scoped_array<double> x_D;
62 };
63 
64 // Factories for linear least squares problem.
65 LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id);
66 
67 LinearLeastSquaresProblem* LinearLeastSquaresProblem0();
68 LinearLeastSquaresProblem* LinearLeastSquaresProblem1();
69 LinearLeastSquaresProblem* LinearLeastSquaresProblem2();
70 LinearLeastSquaresProblem* LinearLeastSquaresProblem3();
71 
72 // Write the linear least squares problem to disk. The exact format
73 // depends on dump_format_type.
74 bool DumpLinearLeastSquaresProblem(const string& filename_base,
75                                    DumpFormatType dump_format_type,
76                                    const SparseMatrix* A,
77                                    const double* D,
78                                    const double* b,
79                                    const double* x,
80                                    int num_eliminate_blocks);
81 }  // namespace internal
82 }  // namespace ceres
83 
84 #endif  // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
85