1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 3 // http://code.google.com/p/ceres-solver/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: sameeragarwal (at) google.com (Sameer Agarwal) 30 // keir (at) google.com (Keir Mierle) 31 32 #include "ceres/problem.h" 33 34 #include <vector> 35 #include "ceres/problem_impl.h" 36 37 namespace ceres { 38 39 class ResidualBlock; 40 41 Problem::Problem() : problem_impl_(new internal::ProblemImpl) {} 42 Problem::Problem(const Problem::Options& options) 43 : problem_impl_(new internal::ProblemImpl(options)) {} 44 Problem::~Problem() {} 45 46 ResidualBlockId Problem::AddResidualBlock( 47 CostFunction* cost_function, 48 LossFunction* loss_function, 49 const vector<double*>& parameter_blocks) { 50 return problem_impl_->AddResidualBlock(cost_function, 51 loss_function, 52 parameter_blocks); 53 } 54 55 ResidualBlockId Problem::AddResidualBlock( 56 CostFunction* cost_function, 57 LossFunction* loss_function, 58 double* x0) { 59 return problem_impl_->AddResidualBlock(cost_function, 60 loss_function, 61 x0); 62 } 63 64 ResidualBlockId Problem::AddResidualBlock( 65 CostFunction* cost_function, 66 LossFunction* loss_function, 67 double* x0, double* x1) { 68 return problem_impl_->AddResidualBlock(cost_function, 69 loss_function, 70 x0, x1); 71 } 72 73 ResidualBlockId Problem::AddResidualBlock( 74 CostFunction* cost_function, 75 LossFunction* loss_function, 76 double* x0, double* x1, double* x2) { 77 return problem_impl_->AddResidualBlock(cost_function, 78 loss_function, 79 x0, x1, x2); 80 } 81 82 ResidualBlockId Problem::AddResidualBlock( 83 CostFunction* cost_function, 84 LossFunction* loss_function, 85 double* x0, double* x1, double* x2, double* x3) { 86 return problem_impl_->AddResidualBlock(cost_function, 87 loss_function, 88 x0, x1, x2, x3); 89 } 90 91 ResidualBlockId Problem::AddResidualBlock( 92 CostFunction* cost_function, 93 LossFunction* loss_function, 94 double* x0, double* x1, double* x2, double* x3, double* x4) { 95 return problem_impl_->AddResidualBlock(cost_function, 96 loss_function, 97 x0, x1, x2, x3, x4); 98 } 99 100 ResidualBlockId Problem::AddResidualBlock( 101 CostFunction* cost_function, 102 LossFunction* loss_function, 103 double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) { 104 return problem_impl_->AddResidualBlock(cost_function, 105 loss_function, 106 x0, x1, x2, x3, x4, x5); 107 } 108 109 ResidualBlockId Problem::AddResidualBlock( 110 CostFunction* cost_function, 111 LossFunction* loss_function, 112 double* x0, double* x1, double* x2, double* x3, double* x4, double* x5, 113 double* x6) { 114 return problem_impl_->AddResidualBlock(cost_function, 115 loss_function, 116 x0, x1, x2, x3, x4, x5, x6); 117 } 118 119 ResidualBlockId Problem::AddResidualBlock( 120 CostFunction* cost_function, 121 LossFunction* loss_function, 122 double* x0, double* x1, double* x2, double* x3, double* x4, double* x5, 123 double* x6, double* x7) { 124 return problem_impl_->AddResidualBlock(cost_function, 125 loss_function, 126 x0, x1, x2, x3, x4, x5, x6, x7); 127 } 128 129 ResidualBlockId Problem::AddResidualBlock( 130 CostFunction* cost_function, 131 LossFunction* loss_function, 132 double* x0, double* x1, double* x2, double* x3, double* x4, double* x5, 133 double* x6, double* x7, double* x8) { 134 return problem_impl_->AddResidualBlock(cost_function, 135 loss_function, 136 x0, x1, x2, x3, x4, x5, x6, x7, x8); 137 } 138 139 ResidualBlockId Problem::AddResidualBlock( 140 CostFunction* cost_function, 141 LossFunction* loss_function, 142 double* x0, double* x1, double* x2, double* x3, double* x4, double* x5, 143 double* x6, double* x7, double* x8, double* x9) { 144 return problem_impl_->AddResidualBlock(cost_function, 145 loss_function, 146 x0, x1, x2, x3, x4, x5, x6, x7, x8, x9); 147 } 148 149 void Problem::AddParameterBlock(double* values, int size) { 150 problem_impl_->AddParameterBlock(values, size); 151 } 152 153 void Problem::AddParameterBlock(double* values, 154 int size, 155 LocalParameterization* local_parameterization) { 156 problem_impl_->AddParameterBlock(values, size, local_parameterization); 157 } 158 159 void Problem::SetParameterBlockConstant(double* values) { 160 problem_impl_->SetParameterBlockConstant(values); 161 } 162 163 void Problem::SetParameterBlockVariable(double* values) { 164 problem_impl_->SetParameterBlockVariable(values); 165 } 166 167 void Problem::SetParameterization( 168 double* values, 169 LocalParameterization* local_parameterization) { 170 problem_impl_->SetParameterization(values, local_parameterization); 171 } 172 173 int Problem::NumParameterBlocks() const { 174 return problem_impl_->NumParameterBlocks(); 175 } 176 177 int Problem::NumParameters() const { 178 return problem_impl_->NumParameters(); 179 } 180 181 int Problem::NumResidualBlocks() const { 182 return problem_impl_->NumResidualBlocks(); 183 } 184 185 int Problem::NumResiduals() const { 186 return problem_impl_->NumResiduals(); 187 } 188 189 } // namespace ceres 190
