Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "Cloneable.h"
       4             : #include "DataDescriptor.h"
       5             : #include "LinearOperator.h"
       6             : 
       7             : #include <memory>
       8             : 
       9             : namespace elsa
      10             : {
      11             :     /**
      12             :      * @brief Abstract base class representing a residual, i.e. a vector-valued mapping.
      13             :      *
      14             :      * @author Matthias Wieczorek - initial code
      15             :      * @author Tobias Lasser - modularization, streamlining
      16             :      *
      17             :      * @tparam data_t data type for the domain and range of the operator, defaulting to real_t
      18             :      *
      19             :      * A residual is a vector-valued mapping representing an error (or mismatch). For real numbers
      20             :      * this corresponds to \f$ \mathbb{R}^n\to\mathbb{R}^m \f$ (e.g. \f$ x \mapsto Ax-b \f$ for
      21             :      * linear residuals). In order to measure this error, the residual can be used as input to a
      22             :      * Functional.
      23             :      */
      24             :     template <typename data_t = real_t>
      25             :     class Residual : public Cloneable<Residual<data_t>>
      26             :     {
      27             :     public:
      28             :         /**
      29             :          * @brief Constructor for the residual, mapping from domain to range
      30             :          *
      31             :          * @param[in] domainDescriptor describing the domain of the residual
      32             :          * @param[in] rangeDescriptor describing the range of the residual
      33             :          */
      34             :         Residual(const DataDescriptor& domainDescriptor, const DataDescriptor& rangeDescriptor);
      35             : 
      36             :         /// default destructor
      37        3884 :         ~Residual() override = default;
      38             : 
      39             :         /// return the domain descriptor
      40             :         const DataDescriptor& getDomainDescriptor() const;
      41             : 
      42             :         /// return the range descriptor
      43             :         const DataDescriptor& getRangeDescriptor() const;
      44             : 
      45             :         /**
      46             :          * @brief evaluate the residual at x and return the result
      47             :          *
      48             :          * @param[in] x input DataContainer (in the domain of the residual)
      49             :          *
      50             :          * @returns result DataContainer (in the range of the residual) containing the result of
      51             :          * the evaluation of the residual at x
      52             :          *
      53             :          * Please note: this method uses evaluate(x, result) to perform the actual operation.
      54             :          */
      55             :         DataContainer<data_t> evaluate(const DataContainer<data_t>& x) const;
      56             : 
      57             :         /**
      58             :          * @brief evaluate the residual at x and store in result
      59             :          *
      60             :          * @param[in] x input DataContainer (in the domain of the residual)
      61             :          * @param[out] result output DataContainer (in the range of the residual)
      62             :          *
      63             :          * Please note: this method calls the method evaluateImpl that has to be overridden in
      64             :          * derived classes. (Why is this method here not virtual itself? Because you cannot
      65             :          * have a non-virtual function overloading a virtual one [evaluate with one vs. two args].)
      66             :          */
      67             :         void evaluate(const DataContainer<data_t>& x, DataContainer<data_t>& result) const;
      68             : 
      69             :         /**
      70             :          * @brief return the Jacobian (first derivative) of the residual at x.
      71             :          *
      72             :          * @param[in] x input DataContainer (in the domain of the residual) at which the
      73             :          * Jacobian of the residual will be evaluated
      74             :          *
      75             :          * @returns a LinearOperator (the Jacobian)
      76             :          *
      77             :          * Please note: this method calls the method getJacobianImpl that has to be overridden in
      78             :          * derived classes. (This is not strictly necessary, it's just for consistency with
      79             :          * evaluate.)
      80             :          */
      81             :         LinearOperator<data_t> getJacobian(const DataContainer<data_t>& x);
      82             : 
      83             :     protected:
      84             :         /// the data descriptor of the domain of the residual
      85             :         std::unique_ptr<DataDescriptor> _domainDescriptor;
      86             : 
      87             :         /// the data descriptor of the range of the residual
      88             :         std::unique_ptr<DataDescriptor> _rangeDescriptor;
      89             : 
      90             :         /// implement the polymorphic comparison operation
      91             :         bool isEqual(const Residual<data_t>& other) const override;
      92             : 
      93             :         /// the evaluate method that has to be overridden in derived classes
      94             :         virtual void evaluateImpl(const DataContainer<data_t>& x,
      95             :                                   DataContainer<data_t>& result) const = 0;
      96             : 
      97             :         /// the getJacobian method that has to be overriden in derived classes
      98             :         virtual LinearOperator<data_t> getJacobianImpl(const DataContainer<data_t>& x) = 0;
      99             :     };
     100             : } // namespace elsa