Sameer Agarwal 32cb9e4a12 Respect bounds when using Solver::Options::check_gradients ...

When Solver::Options::check_gradients is true, Ceres internally
creates a new ProblemImpl object which wraps each CostFunction
in the user's problem with a GradientCheckingCostFunction.

Doing this also requires creating new ParameterBlock objects,
and when support for upper and lower bounds was added to Ceres,
CreateGradientCheckingProblemImpl should also have been updated
to create a problem with the same parameter bounds. As a result,
if check_gradients is enabled for a bounded problem, it constructs
an unconstrained problem and solves it.

This CL fixes this, by introducing Problem::GetParameterLowerBound,
and Problem::GetParameterUpperBound and using them to create a bounded
problem when checking gradients.

Thanks to @pbeeson for not only reporting this problem, but also
providing a small standalone reproduction which made debugging this
possible.

https://github.com/ceres-solver/ceres-solver/issues/379

Change-Id: Id18eb858a7009bf4fa452a21b925922d13f3249f

2018-07-09 23:48:45 -07:00

..

_templates

Rework Ceres documentation as new website

2014-04-07 15:28:21 +00:00

analytical_derivatives.rst

Untabify changes from Jim Roseborough

2017-04-13 13:17:29 -07:00

automatic_derivatives.rst

Untabify changes from Jim Roseborough

2017-04-13 13:17:29 -07:00

bibliography.rst

Add an article on derivatives

2017-02-16 13:01:45 -08:00

CMakeLists.txt

Use Ceres_[SOURCE/BINARY]_DIR not CMAKE_XXX_DIR to support nesting.

2017-04-03 14:47:29 +01:00

conf.py

Update docs and code in preparation for 1.14.0

2018-03-13 10:10:13 -07:00

contributing.rst

Add link for CLA in docs; minor fixes

2017-10-24 17:18:02 -07:00

derivatives.rst

Fix a bunch of typos in the documentation.

2017-04-10 18:16:57 -07:00

faqs.rst

Minor changes to the documentation.

2016-11-27 15:12:11 -08:00

features.rst

Remove Intel TBB threading support.

2018-07-03 18:05:36 +00:00

forward_central_error.png

Add an article on derivatives

2017-02-16 13:01:45 -08:00

forward_central_ridders_error.png

Add an article on derivatives

2017-02-16 13:01:45 -08:00

gradient_solver.rst

Add GradientProblemSolver::Options::update_state_every_iteration

2018-01-25 21:30:09 -08:00

gradient_tutorial.rst

Prepare for 1.12.0RC1

2016-10-13 09:35:18 -07:00

index.rst

Refactor Covariance::Options::algorithm_type.

2017-04-17 09:43:22 -07:00

installation.rst

Remove Android build using Android.mk.

2018-07-10 06:10:12 +00:00

interfacing_with_autodiff.rst

Fix a bunch of typos in the documentation.

2017-04-10 18:16:57 -07:00

least_squares_fit.png

Documentation fixes

2013-05-23 12:49:35 -07:00

license.rst

Move discussion of dependency licensing to Sphinx docs.

2017-12-08 01:24:48 +00:00

loss.png

Convert documentation from LaTeX to Sphinx.

2013-02-04 17:09:39 -08:00

manhattan_olson_3500_result.png

Add an example for modeling and solving a 2D pose graph SLAM problem.

2016-08-05 14:22:27 -07:00

modeling_faqs.rst

Minor changes to the documentation.

2016-11-27 15:12:11 -08:00

nnls_covariance.rst

Add a missing file.

2017-04-17 15:09:28 -07:00

nnls_modeling.rst

Respect bounds when using Solver::Options::check_gradients

2018-07-09 23:48:45 -07:00

nnls_solving.rst

Remove Intel TBB threading support.

2018-07-03 18:05:36 +00:00

nnls_tutorial.rst

Add GradientProblemSolver::Options::update_state_every_iteration

2018-01-25 21:30:09 -08:00

non_robust_least_squares_fit.png

Documentation fixes

2013-05-23 12:49:35 -07:00

numerical_derivatives.rst

Replace scoped_ptr with C++11's unique_ptr

2018-04-02 14:47:47 -07:00

pose_graph_3d_ex.png

Add an example for modeling and solving a 3D pose graph SLAM problem.

2016-08-22 15:26:02 -07:00

robust_least_squares_fit.png

Documentation fixes

2013-05-23 12:49:35 -07:00

slam2d.png

Add an example for modeling and solving a 2D pose graph SLAM problem.

2016-08-05 14:22:27 -07:00

solving_faqs.rst

Minor changes to the documentation.

2016-11-27 15:12:11 -08:00

spivak_notation.rst

Add an article on interfacing with automatic differentiation.

2017-03-26 12:47:57 -07:00

tutorial.rst

Documentation update.

2014-10-08 08:47:34 -07:00

users.rst

Fix typos in users.rst

2016-04-24 22:46:54 -07:00

version_history.rst

Update docs and code in preparation for 1.14.0

2018-03-13 10:10:13 -07:00