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Problem::Evaluate implementation.

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1. Add Problem::Evaluate and tests.
2. Remove Solver::Summary::initial/final_*
3. Remove Solver::Options::return_* members.
4. Various cpplint cleanups.

Change-Id: I4266de53489896f72d9c6798c5efde6748d68a47
This commit is contained in:
Sameer Agarwal
2013-02-20 01:39:03 -08:00
committed by Gerrit Code Review
parent d4a0bf86d6
commit 509f68cfe3
79 changed files with 1383 additions and 578 deletions
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internal/ceres/problem.cc
+17 -3
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@@ -32,6 +32,7 @@
#include "ceres/problem.h"
#include <vector>
#include "ceres/crs_matrix.h"
#include "ceres/problem_impl.h"
namespace ceres {
@@ -139,9 +140,10 @@ ResidualBlockId Problem::AddResidualBlock(
LossFunction* loss_function,
double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
double* x6, double* x7, double* x8, double* x9) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2, x3, x4, x5, x6, x7, x8, x9);
return problem_impl_->AddResidualBlock(
cost_function,
loss_function,
x0, x1, x2, x3, x4, x5, x6, x7, x8, x9);
}
void Problem::AddParameterBlock(double* values, int size) {
@@ -176,6 +178,18 @@ void Problem::SetParameterization(
problem_impl_->SetParameterization(values, local_parameterization);
}
bool Problem::Evaluate(const EvaluateOptions& evaluate_options,
double* cost,
vector<double>* residuals,
vector<double>* gradient,
CRSMatrix* jacobian) {
return problem_impl_->Evaluate(evaluate_options,
cost,
residuals,
gradient,
jacobian);
}
int Problem::NumParameterBlocks() const {
return problem_impl_->NumParameterBlocks();
}