Squashed 'third_party/ceres/' content from commit e51e9b4
Change-Id: I763587619d57e594d3fa158dc3a7fe0b89a1743b
git-subtree-dir: third_party/ceres
git-subtree-split: e51e9b46f6ca88ab8b2266d0e362771db6d98067
diff --git a/internal/ceres/minimizer.cc b/internal/ceres/minimizer.cc
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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: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/line_search_minimizer.h"
+#include "ceres/minimizer.h"
+#include "ceres/trust_region_minimizer.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+Minimizer* Minimizer::Create(MinimizerType minimizer_type) {
+ if (minimizer_type == TRUST_REGION) {
+ return new TrustRegionMinimizer;
+ }
+
+ if (minimizer_type == LINE_SEARCH) {
+ return new LineSearchMinimizer;
+ }
+
+ LOG(FATAL) << "Unknown minimizer_type: " << minimizer_type;
+ return NULL;
+}
+
+
+Minimizer::~Minimizer() {}
+
+bool Minimizer::RunCallbacks(const Minimizer::Options& options,
+ const IterationSummary& iteration_summary,
+ Solver::Summary* summary) {
+ const bool is_not_silent = !options.is_silent;
+ CallbackReturnType status = SOLVER_CONTINUE;
+ int i = 0;
+ while (status == SOLVER_CONTINUE && i < options.callbacks.size()) {
+ status = (*options.callbacks[i])(iteration_summary);
+ ++i;
+ }
+ switch (status) {
+ case SOLVER_CONTINUE:
+ return true;
+ case SOLVER_TERMINATE_SUCCESSFULLY:
+ summary->termination_type = USER_SUCCESS;
+ summary->message =
+ "User callback returned SOLVER_TERMINATE_SUCCESSFULLY.";
+ VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ return false;
+ case SOLVER_ABORT:
+ summary->termination_type = USER_FAILURE;
+ summary->message = "User callback returned SOLVER_ABORT.";
+ VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ return false;
+ default:
+ LOG(FATAL) << "Unknown type of user callback status";
+ }
+ return false;
+}
+
+} // namespace internal
+} // namespace ceres