include/ceres/internal/eigen.h

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#ifndef CERES_INTERNAL_EIGEN_H_
#define CERES_INTERNAL_EIGEN_H_

#include "Eigen/Core"

namespace ceres {

typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
    Matrix;
typedef Eigen::Map<Vector> VectorRef;
typedef Eigen::Map<Matrix> MatrixRef;
typedef Eigen::Map<const Vector> ConstVectorRef;
typedef Eigen::Map<const Matrix> ConstMatrixRef;

// Column major matrices for DenseSparseMatrix/DenseQRSolver
typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor>
    ColMajorMatrix;

typedef Eigen::Map<ColMajorMatrix, 0, Eigen::Stride<Eigen::Dynamic, 1>>
    ColMajorMatrixRef;

typedef Eigen::Map<const ColMajorMatrix, 0, Eigen::Stride<Eigen::Dynamic, 1>>
    ConstColMajorMatrixRef;

// C++ does not support templated typdefs, thus the need for this
// struct so that we can support statically sized Matrix and Maps.
template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
struct EigenTypes {
  typedef Eigen::Matrix<double,
                        num_rows,
                        num_cols,
                        num_cols == 1 ? Eigen::ColMajor : Eigen::RowMajor>
      Matrix;

  typedef Eigen::Map<Matrix> MatrixRef;
  typedef Eigen::Map<const Matrix> ConstMatrixRef;
  typedef Eigen::Matrix<double, num_rows, 1> Vector;
  typedef Eigen::Map<Eigen::Matrix<double, num_rows, 1>> VectorRef;
  typedef Eigen::Map<const Eigen::Matrix<double, num_rows, 1>> ConstVectorRef;
};

}  // namespace ceres

#endif  // CERES_INTERNAL_EIGEN_H_