| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101 | // Ceres Solver - A fast non-linear least squares minimizer// Copyright 2015 Google Inc. All rights reserved.// http://ceres-solver.org///// Redistribution and use in source and binary forms, with or without// modification, are permitted provided that the following conditions are met://// * Redistributions of source code must retain the above copyright notice,//   this list of conditions and the following disclaimer.// * Redistributions in binary form must reproduce the above copyright notice,//   this list of conditions and the following disclaimer in the documentation//   and/or other materials provided with the distribution.// * Neither the name of Google Inc. nor the names of its contributors may be//   used to endorse or promote products derived from this software without//   specific prior written permission.//// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE// POSSIBILITY OF SUCH DAMAGE.//// Author: sameeragarwal@google.com (Sameer Agarwal)#ifndef CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_#define CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_#include <map>#include <string>#include "ceres/evaluator.h"#include "ceres/execution_summary.h"#include "ceres/gradient_problem.h"#include "ceres/internal/port.h"#include "ceres/wall_time.h"namespace ceres {namespace internal {class GradientProblemEvaluator : public Evaluator { public:  explicit GradientProblemEvaluator(const GradientProblem& problem)      : problem_(problem) {}  virtual ~GradientProblemEvaluator() {}  SparseMatrix* CreateJacobian() const final { return nullptr; }  bool Evaluate(const EvaluateOptions& evaluate_options,                const double* state,                double* cost,                double* residuals,                double* gradient,                SparseMatrix* jacobian) final {    CHECK(jacobian == NULL);    ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_);    // The reason we use Residual and Jacobian here even when we are    // only computing the cost and gradient has to do with the fact    // that the line search minimizer code is used by both the    // GradientProblemSolver and the main CeresSolver coder where the    // Evaluator evaluates the Jacobian, and these magic strings need    // to be consistent across the code base for the time accounting    // to work.    ScopedExecutionTimer call_type_timer(        gradient == NULL ? "Evaluator::Residual" : "Evaluator::Jacobian",        &execution_summary_);    return problem_.Evaluate(state, cost, gradient);  }  bool Plus(const double* state,            const double* delta,            double* state_plus_delta) const final {    return problem_.Plus(state, delta, state_plus_delta);  }  int NumParameters() const final {    return problem_.NumParameters();  }  int NumEffectiveParameters() const final {    return problem_.NumLocalParameters();  }  int NumResiduals() const final { return 1; }  std::map<std::string, internal::CallStatistics> Statistics() const final {    return execution_summary_.statistics();  } private:  const GradientProblem& problem_;  ::ceres::internal::ExecutionSummary execution_summary_;};}  // namespace internal}  // namespace ceres#endif  // CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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