1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2012 Google Inc. All rights reserved.
3 // http://code.google.com/p/ceres-solver/
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30 
31 #ifndef CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
32 #define CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
33 
34 #include "ceres/minimizer.h"
35 #include "ceres/solver.h"
36 #include "ceres/types.h"
37 
38 namespace ceres {
39 namespace internal {
40 
41 // Generic trust region minimization algorithm. The heavy lifting is
42 // done by a TrustRegionStrategy object passed in as part of options.
43 //
44 // For example usage, see SolverImpl::Minimize.
45 class TrustRegionMinimizer : public Minimizer {
46  public:
~TrustRegionMinimizer()47   ~TrustRegionMinimizer() {}
48   virtual void Minimize(const Minimizer::Options& options,
49                         double* parameters,
50                         Solver::Summary* summary);
51 
52  private:
53   void Init(const Minimizer::Options& options);
54   void EstimateScale(const SparseMatrix& jacobian, double* scale) const;
55   bool MaybeDumpLinearLeastSquaresProblem(const int iteration,
56                                           const SparseMatrix* jacobian,
57                                           const double* residuals,
58                                           const double* step) const;
59 
60   Minimizer::Options options_;
61 };
62 
63 }  // namespace internal
64 }  // namespace ceres
65 #endif  // CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
66