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