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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_EIGEN_H_
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#define CERES_INTERNAL_EIGEN_H_
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using Eigen::RowMajor;
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typedef Eigen::Matrix<double, Dynamic, 1> Vector;
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typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix;
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typedef Eigen::Map<Vector> VectorRef;
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typedef Eigen::Map<Matrix> MatrixRef;
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typedef Eigen::Map<Matrix, Eigen::Aligned> AlignedMatrixRef;
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typedef Eigen::Map<const Vector> ConstVectorRef;
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typedef Eigen::Map<const Matrix, Eigen::Aligned> ConstAlignedMatrixRef;
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typedef Eigen::Map<const Matrix> ConstMatrixRef;
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// C++ does not support templated typdefs, thus the need for this
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// struct so that we can support statically sized Matrix and Maps.
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template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
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typedef Eigen::Matrix <double, num_rows, num_cols, RowMajor>
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Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
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typedef Eigen::Matrix <double, num_rows, 1>
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Eigen::Matrix<double, num_rows, 1> >
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const Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
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const Eigen::Matrix<double, num_rows, 1> >
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#endif // CERES_INTERNAL_EIGEN_H_