ceres-solver/internal/ceres/problem.cc

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
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// Author: sameeragarwal@google.com (Sameer Agarwal)
//         keir@google.com (Keir Mierle)

#include "ceres/problem.h"

#include <vector>
#include "ceres/crs_matrix.h"
#include "ceres/problem_impl.h"

namespace ceres {

using std::vector;

Problem::Problem() : problem_impl_(new internal::ProblemImpl) {}
Problem::Problem(const Problem::Options& options)
    : problem_impl_(new internal::ProblemImpl(options)) {}
Problem::~Problem() {}

ResidualBlockId Problem::AddResidualBlock(
    CostFunction* cost_function,
    LossFunction* loss_function,
    const vector<double*>& parameter_blocks) {
  return problem_impl_->AddResidualBlock(
      cost_function,
      loss_function,
      parameter_blocks.data(),
      static_cast<int>(parameter_blocks.size()));
}

ResidualBlockId Problem::AddResidualBlock(
    CostFunction* cost_function,
    LossFunction* loss_function,
    double* const* const parameter_blocks,
    int num_parameter_blocks) {
  return problem_impl_->AddResidualBlock(cost_function,
                                         loss_function,
                                         parameter_blocks,
                                         num_parameter_blocks);
}

void Problem::AddParameterBlock(double* values, int size) {
  problem_impl_->AddParameterBlock(values, size);
}

void Problem::AddParameterBlock(double* values,
                                int size,
                                LocalParameterization* local_parameterization) {
  problem_impl_->AddParameterBlock(values, size, local_parameterization);
}

void Problem::RemoveResidualBlock(ResidualBlockId residual_block) {
  problem_impl_->RemoveResidualBlock(residual_block);
}

void Problem::RemoveParameterBlock(double* values) {
  problem_impl_->RemoveParameterBlock(values);
}

void Problem::SetParameterBlockConstant(double* values) {
  problem_impl_->SetParameterBlockConstant(values);
}

void Problem::SetParameterBlockVariable(double* values) {
  problem_impl_->SetParameterBlockVariable(values);
}

bool Problem::IsParameterBlockConstant(double* values) const {
  return problem_impl_->IsParameterBlockConstant(values);
}

void Problem::SetParameterization(
    double* values,
    LocalParameterization* local_parameterization) {
  problem_impl_->SetParameterization(values, local_parameterization);
}

const LocalParameterization* Problem::GetParameterization(
    double* values) const {
  return problem_impl_->GetParameterization(values);
}

void Problem::SetParameterLowerBound(double* values,
                                     int index,
                                     double lower_bound) {
  problem_impl_->SetParameterLowerBound(values, index, lower_bound);
}

void Problem::SetParameterUpperBound(double* values,
                                     int index,
                                     double upper_bound) {
  problem_impl_->SetParameterUpperBound(values, index, upper_bound);
}

double Problem::GetParameterUpperBound(double* values, int index) const {
  return problem_impl_->GetParameterUpperBound(values, index);
}

double Problem::GetParameterLowerBound(double* values, int index) const {
  return problem_impl_->GetParameterLowerBound(values, index);
}

bool Problem::Evaluate(const EvaluateOptions& evaluate_options,
                       double* cost,
                       vector<double>* residuals,
                       vector<double>* gradient,
                       CRSMatrix* jacobian) {
  return problem_impl_->Evaluate(evaluate_options,
                                 cost,
                                 residuals,
                                 gradient,
                                 jacobian);
}

int Problem::NumParameterBlocks() const {
  return problem_impl_->NumParameterBlocks();
}

int Problem::NumParameters() const {
  return problem_impl_->NumParameters();
}

int Problem::NumResidualBlocks() const {
  return problem_impl_->NumResidualBlocks();
}

int Problem::NumResiduals() const {
  return problem_impl_->NumResiduals();
}

int Problem::ParameterBlockSize(const double* parameter_block) const {
  return problem_impl_->ParameterBlockSize(parameter_block);
}

int Problem::ParameterBlockLocalSize(const double* parameter_block) const {
  return problem_impl_->ParameterBlockLocalSize(parameter_block);
}

bool Problem::HasParameterBlock(const double* values) const {
  return problem_impl_->HasParameterBlock(values);
}

void Problem::GetParameterBlocks(vector<double*>* parameter_blocks) const {
  problem_impl_->GetParameterBlocks(parameter_blocks);
}

void Problem::GetResidualBlocks(
    vector<ResidualBlockId>* residual_blocks) const {
  problem_impl_->GetResidualBlocks(residual_blocks);
}

void Problem::GetParameterBlocksForResidualBlock(
    const ResidualBlockId residual_block,
    vector<double*>* parameter_blocks) const {
  problem_impl_->GetParameterBlocksForResidualBlock(residual_block,
                                                    parameter_blocks);
}

const CostFunction* Problem::GetCostFunctionForResidualBlock(
    const ResidualBlockId residual_block) const {
  return problem_impl_->GetCostFunctionForResidualBlock(residual_block);
}

const LossFunction* Problem::GetLossFunctionForResidualBlock(
    const ResidualBlockId residual_block) const {
  return problem_impl_->GetLossFunctionForResidualBlock(residual_block);
}

void Problem::GetResidualBlocksForParameterBlock(
    const double* values,
    vector<ResidualBlockId>* residual_blocks) const {
  problem_impl_->GetResidualBlocksForParameterBlock(values,
                                                    residual_blocks);
}

}  // namespace ceres