ceres-solver/internal/ceres/cgnr_solver.h

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
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// modification, are permitted provided that the following conditions are met:
//
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// Author: keir@google.com (Keir Mierle)

#ifndef CERES_INTERNAL_CGNR_SOLVER_H_
#define CERES_INTERNAL_CGNR_SOLVER_H_

#include <memory>

#include "ceres/linear_solver.h"

namespace ceres {
namespace internal {

class Preconditioner;

class BlockJacobiPreconditioner;

// A conjugate gradients on the normal equations solver. This directly solves
// for the solution to
//
//   (A^T A + D^T D)x = A^T b
//
// as required for solving for x in the least squares sense. Currently only
// block diagonal preconditioning is supported.
class CgnrSolver : public BlockSparseMatrixSolver {
 public:
  explicit CgnrSolver(const LinearSolver::Options& options);
  CgnrSolver(const CgnrSolver&) = delete;
  void operator=(const CgnrSolver&) = delete;
  virtual ~CgnrSolver();

  Summary SolveImpl(BlockSparseMatrix* A,
                    const double* b,
                    const LinearSolver::PerSolveOptions& per_solve_options,
                    double* x) final;

 private:
  const LinearSolver::Options options_;
  std::unique_ptr<Preconditioner> preconditioner_;
};

}  // namespace internal
}  // namespace ceres

#endif  // CERES_INTERNAL_CGNR_SOLVER_H_