eigen.h

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// 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 G2O_CERES_INTERNAL_EIGEN_H_
#define G2O_CERES_INTERNAL_EIGEN_H_
 
#include "Eigen/Core"
 
namespace g2o {
namespace ceres {
 
using Vector = Eigen::Matrix<double, Eigen::Dynamic, 1>;
using Matrix =
    Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
using VectorRef = Eigen::Map<Vector>;
using MatrixRef = Eigen::Map<Matrix>;
using ConstVectorRef = Eigen::Map<const Vector>;
using ConstMatrixRef = Eigen::Map<const Matrix>;
 
// Column major matrices for DenseSparseMatrix/DenseQRSolver
using ColMajorMatrix =
    Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor>;
 
using ColMajorMatrixRef =
    Eigen::Map<ColMajorMatrix, 0, Eigen::Stride<Eigen::Dynamic, 1>>;
 
using ConstColMajorMatrixRef =
    Eigen::Map<const ColMajorMatrix, 0, Eigen::Stride<Eigen::Dynamic, 1>>;
 
// C++ does not support templated typdefs, thus the need for this
// struct so that we can support statically sized Matrix and Maps.
template <int NumRows = Eigen::Dynamic, int NumCols = Eigen::Dynamic>
struct EigenTypes {
  using Matrix =
      Eigen::Matrix<double, NumRows, NumCols,
                    NumCols == 1 ? Eigen::ColMajor : Eigen::RowMajor>;
 
  typedef Eigen::Map<Matrix> MatrixRef;
  typedef Eigen::Map<const Matrix> ConstMatrixRef;
  typedef Eigen::Matrix<double, NumRows, 1> Vector;
  typedef Eigen::Map<Eigen::Matrix<double, NumRows, 1>> VectorRef;
  typedef Eigen::Map<const Eigen::Matrix<double, NumRows, 1>> ConstVectorRef;
};
 
}  // namespace ceres
}  // namespace g2o
 
#endif  // G2O_CERES_INTERNAL_EIGEN_H_