1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30 
31 #ifndef CERES_INTERNAL_EIGEN_H_
32 #define CERES_INTERNAL_EIGEN_H_
33 
34 #include "Eigen/Core"
35 
36 namespace ceres {
37 
38 typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
39 typedef Eigen::Matrix<double,
40                       Eigen::Dynamic,
41                       Eigen::Dynamic,
42                       Eigen::RowMajor> Matrix;
43 typedef Eigen::Map<Vector> VectorRef;
44 typedef Eigen::Map<Matrix> MatrixRef;
45 typedef Eigen::Map<const Vector> ConstVectorRef;
46 typedef Eigen::Map<const Matrix> ConstMatrixRef;
47 
48 // Column major matrices for DenseSparseMatrix/DenseQRSolver
49 typedef Eigen::Matrix<double,
50                       Eigen::Dynamic,
51                       Eigen::Dynamic,
52                       Eigen::ColMajor> ColMajorMatrix;
53 
54 typedef Eigen::Map<ColMajorMatrix, 0,
55                    Eigen::Stride<Eigen::Dynamic, 1>> ColMajorMatrixRef;
56 
57 typedef Eigen::Map<const ColMajorMatrix,
58                    0,
59                    Eigen::Stride<Eigen::Dynamic, 1>> ConstColMajorMatrixRef;
60 
61 // C++ does not support templated typdefs, thus the need for this
62 // struct so that we can support statically sized Matrix and Maps.
63  template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
64 struct EigenTypes {
65   typedef Eigen::Matrix<double,
66                         num_rows,
67                         num_cols,
68                         num_cols == 1 ? Eigen::ColMajor : Eigen::RowMajor>
69       Matrix;
70 
71   typedef Eigen::Map<Matrix> MatrixRef;
72   typedef Eigen::Map<const Matrix> ConstMatrixRef;
73   typedef Eigen::Matrix<double, num_rows, 1> Vector;
74   typedef Eigen::Map<Eigen::Matrix<double, num_rows, 1>> VectorRef;
75   typedef Eigen::Map<const Eigen::Matrix<double, num_rows, 1>> ConstVectorRef;
76 };
77 
78 }  // namespace ceres
79 
80 #endif  // CERES_INTERNAL_EIGEN_H_
81