Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/callbacks.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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// modification, are permitted provided that the following conditions are met:
//
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//   this list of conditions and the following disclaimer.
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//   this list of conditions and the following disclaimer in the documentation
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#ifndef CERES_INTERNAL_CALLBACKS_H_
#define CERES_INTERNAL_CALLBACKS_H_

#include <string>

#include "ceres/internal/export.h"
#include "ceres/iteration_callback.h"

namespace ceres::internal {

class Program;

// Callback for updating the externally visible state of parameter
// blocks.
class CERES_NO_EXPORT StateUpdatingCallback final : public IterationCallback {
 public:
  StateUpdatingCallback(Program* program, double* parameters);
  ~StateUpdatingCallback() override;
  CallbackReturnType operator()(const IterationSummary& summary) final;

 private:
  Program* program_;
  double* parameters_;
};

// Callback for updating the externally visible state of the
// parameters vector for GradientProblemSolver.
class CERES_NO_EXPORT GradientProblemSolverStateUpdatingCallback final
    : public IterationCallback {
 public:
  GradientProblemSolverStateUpdatingCallback(int num_parameters,
                                             const double* internal_parameters,
                                             double* user_parameters);
  ~GradientProblemSolverStateUpdatingCallback() override;
  CallbackReturnType operator()(const IterationSummary& summary) final;

 private:
  int num_parameters_;
  const double* internal_parameters_;
  double* user_parameters_;
};

// Callback for logging the state of the minimizer to STDERR or
// STDOUT depending on the user's preferences and logging level.
class CERES_NO_EXPORT LoggingCallback final : public IterationCallback {
 public:
  LoggingCallback(MinimizerType minimizer_type, bool log_to_stdout);
  ~LoggingCallback() override;
  CallbackReturnType operator()(const IterationSummary& summary) final;

 private:
  const MinimizerType minimizer_type;
  const bool log_to_stdout_;
};

}  // namespace ceres::internal

#endif  // CERES_INTERNAL_CALLBACKS_H_