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Allow some methods in Problem to use const double*.

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Some methods in Problem do not modify the parameter block
and those methods now allow the user to call them with const double*.

The methods are

RemoveParameterBlock
SetParameterBlockConstant
IsParameterBlockConstant
GetParameterization
GetParameterLowerBound
GetParameterUpperBound

https://github.com/ceres-solver/ceres-solver/issues/479

Change-Id: I59dcb77134f59576dd498bd732e29aae9abd28b1
This commit is contained in:
Sameer Agarwal
2019-06-05 15:38:39 -07:00
parent a60c14525f
commit db1f5b57a0
5 changed files with 141 additions and 165 deletions
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include/ceres/problem.h
+6 -6
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@@ -268,7 +268,7 @@ class CERES_EXPORT Problem {
// ordering, rendering the jacobian or residuals returned from the solver
// uninterpretable. If you depend on the evaluated jacobian, do not use
// remove! This may change in a future release.
void RemoveParameterBlock(double* values);
void RemoveParameterBlock(const double* values);
// Remove a residual block from the problem. Any parameters that the residual
// block depends on are not removed. The cost and loss functions for the
@@ -282,13 +282,13 @@ class CERES_EXPORT Problem {
void RemoveResidualBlock(ResidualBlockId residual_block);
// Hold the indicated parameter block constant during optimization.
void SetParameterBlockConstant(double* values);
void SetParameterBlockConstant(const double* values);
// Allow the indicated parameter block to vary during optimization.
void SetParameterBlockVariable(double* values);
// Returns true if a parameter block is set constant, and false otherwise.
bool IsParameterBlockConstant(double* values) const;
bool IsParameterBlockConstant(const double* values) const;
// Set the local parameterization for one of the parameter blocks.
// The local_parameterization is owned by the Problem by default. It
@@ -302,7 +302,7 @@ class CERES_EXPORT Problem {
// Get the local parameterization object associated with this
// parameter block. If there is no parameterization object
// associated then nullptr is returned.
const LocalParameterization* GetParameterization(double* values) const;
const LocalParameterization* GetParameterization(const double* values) const;
// Set the lower/upper bound for the parameter at position "index".
void SetParameterLowerBound(double* values, int index, double lower_bound);
@@ -312,8 +312,8 @@ class CERES_EXPORT Problem {
// "index". If the parameter is not bounded by the user, then its
// lower bound is -std::numeric_limits<double>::max() and upper
// bound is std::numeric_limits<double>::max().
double GetParameterLowerBound(double* values, int index) const;
double GetParameterUpperBound(double* values, int index) const;
double GetParameterLowerBound(const double* values, int index) const;
double GetParameterUpperBound(const double* values, int index) const;
// Number of parameter blocks in the problem. Always equals
// parameter_blocks().size() and parameter_block_sizes().size().