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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_test.cc
+14
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@@ -612,6 +612,20 @@ TEST(Problem, GetParameterization) {
EXPECT_TRUE(problem.GetParameterization(y) == NULL);
}
TEST(Problem, HasParameterization) {
double x[3];
double y[2];
Problem problem;
problem.AddParameterBlock(x, 3);
problem.AddParameterBlock(y, 2);
LocalParameterization* parameterization = new IdentityParameterization(3);
problem.SetParameterization(x, parameterization);
EXPECT_TRUE(problem.HasParameterization(x));
EXPECT_FALSE(problem.HasParameterization(y));
}
TEST(Problem, ParameterBlockQueryTest) {
double x[3];
double y[4];