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+// 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: keir@google.com (Keir Mierle)
+//
+// A jacobian writer that directly writes to compressed row sparse matrices.
+
+#ifndef CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
+#define CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
+
+#include <utility>
+#include <vector>
+
+#include "ceres/evaluator.h"
+#include "ceres/scratch_evaluate_preparer.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+class Program;
+class SparseMatrix;
+
+class CompressedRowJacobianWriter {
+ public:
+ CompressedRowJacobianWriter(Evaluator::Options /* ignored */,
+ Program* program)
+ : program_(program) {
+ }
+
+ // PopulateJacobianRowAndColumnBlockVectors sets col_blocks and
+ // row_blocks for a CompressedRowSparseMatrix, based on the
+ // parameter block sizes and residual sizes respectively from the
+ // program. This is useful when Solver::Options::use_block_amd =
+ // true;
+ //
+ // This function is static so that it is available to other jacobian
+ // writers which use CompressedRowSparseMatrix (or derived types).
+ // (Jacobian writers do not fall under any type hierarchy; they only
+ // have to provide an interface as specified in program_evaluator.h).
+ static void PopulateJacobianRowAndColumnBlockVectors(
+ const Program* program,
+ CompressedRowSparseMatrix* jacobian);
+
+ // It is necessary to determine the order of the jacobian blocks
+ // before copying them into a CompressedRowSparseMatrix (or derived
+ // type). Just because a cost function uses parameter blocks 1
+ // after 2 in its arguments does not mean that the block 1 occurs
+ // before block 2 in the column layout of the jacobian. Thus,
+ // GetOrderedParameterBlocks determines the order by sorting the
+ // jacobian blocks by their position in the state vector.
+ //
+ // This function is static so that it is available to other jacobian
+ // writers which use CompressedRowSparseMatrix (or derived types).
+ // (Jacobian writers do not fall under any type hierarchy; they only
+ // have to provide an interface as specified in
+ // program_evaluator.h).
+ static void GetOrderedParameterBlocks(
+ const Program* program,
+ int residual_id,
+ std::vector<std::pair<int, int>>* evaluated_jacobian_blocks);
+
+ // JacobianWriter interface.
+
+ // Since the compressed row matrix has different layout than that
+ // assumed by the cost functions, use scratch space to store the
+ // jacobians temporarily then copy them over to the larger jacobian
+ // in the Write() function.
+ ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
+ return ScratchEvaluatePreparer::Create(*program_, num_threads);
+ }
+
+ SparseMatrix* CreateJacobian() const;
+
+ void Write(int residual_id,
+ int residual_offset,
+ double **jacobians,
+ SparseMatrix* base_jacobian);
+
+ private:
+ Program* program_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_