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Add Problem::HasParameterization

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This will help the transition from LocalParameterization to Manifolds,
since most uses of Problem::GetParameterization is to just check
whether a parameter block has a local parameterization associated
with it or not.

Change-Id: Ib3539f377eaed853d7542c9844ec1487aa0fb4d6
This commit is contained in:
Sameer Agarwal
2022-01-11 21:05:56 -08:00
parent 7e2f9d9d41
commit c0cb42e5f9
5 changed files with 35 additions and 0 deletions
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internal/ceres/problem_impl.cc
+12
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@@ -543,6 +543,18 @@ const LocalParameterization* ProblemImpl::GetParameterization(
return parameter_block->local_parameterization();
}
bool ProblemImpl::HasParameterization(const double* values) const {
ParameterBlock* parameter_block = FindWithDefault(
parameter_block_map_, const_cast<double*>(values), nullptr);
if (parameter_block == nullptr) {
LOG(FATAL) << "Parameter block not found: " << values
<< ". You must add the parameter block to the problem before "
<< "you can get its local parameterization.";
}
return (parameter_block->local_parameterization() != nullptr);
}
void ProblemImpl::SetParameterLowerBound(double* values,
int index,
double lower_bound) {