Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/function_sample.h

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 Google Inc. All rights reserved.
// http://ceres-solver.org/
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#ifndef CERES_INTERNAL_FUNCTION_SAMPLE_H_
#define CERES_INTERNAL_FUNCTION_SAMPLE_H_

#include <string>

#include "ceres/internal/disable_warnings.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/export.h"

namespace ceres::internal {

// FunctionSample is used by the line search routines to store and
// communicate the value and (optionally) the gradient of the function
// being minimized.
//
// Since line search as the name implies happens along a certain
// line/direction. FunctionSample contains the information in two
// ways. Information in the ambient space and information along the
// direction of search.
struct CERES_NO_EXPORT FunctionSample {
  FunctionSample();
  FunctionSample(double x, double value);
  FunctionSample(double x, double value, double gradient);

  std::string ToDebugString() const;

  // x is the location of the sample along the search direction.
  double x;

  // Let p be a point and d be the search direction then
  //
  // vector_x = p + x * d;
  Vector vector_x;
  // True if vector_x has been assigned a valid value.
  bool vector_x_is_valid;

  // value = f(vector_x)
  double value;
  // True of the evaluation was successful and value is a finite
  // number.
  bool value_is_valid;

  // vector_gradient = Df(vector_position);
  //
  // D is the derivative operator.
  Vector vector_gradient;
  // True if the vector gradient was evaluated and the evaluation was
  // successful (the value is a finite number).
  bool vector_gradient_is_valid;

  // gradient = d.transpose() * vector_gradient
  //
  // where d is the search direction.
  double gradient;
  // True if the evaluation of the gradient was successful and the
  // value is a finite number.
  bool gradient_is_valid;
};

}  // namespace ceres::internal

#include "ceres/internal/reenable_warnings.h"

#endif  // CERES_INTERNAL_FUNCTION_SAMPLE_H_