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95 lines
3.4 KiB
95 lines
3.4 KiB
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2017 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_FUNCTION_SAMPLE_H_
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#define CERES_INTERNAL_FUNCTION_SAMPLE_H_
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#include <string>
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#include "ceres/internal/eigen.h"
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namespace ceres {
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namespace internal {
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// FunctionSample is used by the line search routines to store and
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// communicate the value and (optionally) the gradient of the function
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// being minimized.
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//
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// Since line search as the name implies happens along a certain
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// line/direction. FunctionSample contains the information in two
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// ways. Information in the ambient space and information along the
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// direction of search.
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struct FunctionSample {
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FunctionSample();
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FunctionSample(double x, double value);
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FunctionSample(double x, double value, double gradient);
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std::string ToDebugString() const;
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// x is the location of the sample along the search direction.
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double x;
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// Let p be a point and d be the search direction then
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//
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// vector_x = p + x * d;
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Vector vector_x;
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// True if vector_x has been assigned a valid value.
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bool vector_x_is_valid;
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// value = f(vector_x)
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double value;
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// True of the evaluation was successful and value is a finite
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// number.
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bool value_is_valid;
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// vector_gradient = Df(vector_position);
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//
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// D is the derivative operator.
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Vector vector_gradient;
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// True if the vector gradient was evaluated and the evaluation was
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// successful (the value is a finite number).
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bool vector_gradient_is_valid;
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// gradient = d.transpose() * vector_gradient
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//
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// where d is the search direction.
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double gradient;
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// True if the evaluation of the gradient was sucessful and the
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// value is a finite number.
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bool gradient_is_valid;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_FUNCTION_SAMPLE_H_
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