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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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internal/ceres/problem_impl.h
+10 -11
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@@ -77,11 +77,10 @@ class ProblemImpl {
~ProblemImpl();
// See the public problem.h file for description of these methods.
ResidualBlockId AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* const* const parameter_blocks,
int num_parameter_blocks);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* const* const parameter_blocks,
int num_parameter_blocks);
template <typename... Ts>
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
@@ -101,20 +100,20 @@ class ProblemImpl {
LocalParameterization* local_parameterization);
void RemoveResidualBlock(ResidualBlock* residual_block);
void RemoveParameterBlock(double* values);
void RemoveParameterBlock(const double* values);
void SetParameterBlockConstant(double* values);
void SetParameterBlockConstant(const double* values);
void SetParameterBlockVariable(double* values);
bool IsParameterBlockConstant(double* values) const;
bool IsParameterBlockConstant(const double* values) const;
void SetParameterization(double* values,
LocalParameterization* local_parameterization);
const LocalParameterization* GetParameterization(double* values) const;
const LocalParameterization* GetParameterization(const double* values) const;
void SetParameterLowerBound(double* values, int index, double lower_bound);
void SetParameterUpperBound(double* values, int index, double upper_bound);
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;
bool Evaluate(const Problem::EvaluateOptions& options,
double* cost,