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							- // Ceres Solver - A fast non-linear least squares minimizer
 
- // Copyright 2018 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)
 
- #include <string>
 
- #include "ceres/iterative_refiner.h"
 
- #include "Eigen/Core"
 
- #include "ceres/sparse_cholesky.h"
 
- #include "ceres/sparse_matrix.h"
 
- namespace ceres {
 
- namespace internal {
 
- IterativeRefiner::IterativeRefiner(const int max_num_iterations)
 
-     : max_num_iterations_(max_num_iterations) {}
 
- IterativeRefiner::~IterativeRefiner() {}
 
- void IterativeRefiner::Allocate(int num_cols) {
 
-   residual_.resize(num_cols);
 
-   correction_.resize(num_cols);
 
-   lhs_x_solution_.resize(num_cols);
 
- }
 
- void IterativeRefiner::Refine(const SparseMatrix& lhs,
 
-                               const double* rhs_ptr,
 
-                               SparseCholesky* sparse_cholesky,
 
-                               double* solution_ptr) {
 
-   const int num_cols = lhs.num_cols();
 
-   Allocate(num_cols);
 
-   ConstVectorRef rhs(rhs_ptr, num_cols);
 
-   VectorRef solution(solution_ptr, num_cols);
 
-   for (int i = 0; i < max_num_iterations_; ++i) {
 
-     // residual = rhs - lhs * solution
 
-     lhs_x_solution_.setZero();
 
-     lhs.RightMultiply(solution_ptr, lhs_x_solution_.data());
 
-     residual_ = rhs - lhs_x_solution_;
 
-     // solution += lhs^-1 residual
 
-     std::string ignored_message;
 
-     sparse_cholesky->Solve(
 
-         residual_.data(), correction_.data(), &ignored_message);
 
-     solution += correction_;
 
-   }
 
- };
 
- }  // namespace internal
 
- }  // namespace ceres
 
 
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