// Ceres Solver - A fast non-linear least squares minimizer
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// http://code.google.com/p/ceres-solver/
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// Author: darius.rueckert@fau.de (Darius Rueckert)
//
// A simple example showing how to generate code for a cost functor

#include "ceres/ceres.h"
#include "glog/logging.h"
#include "helloworld_cost_function.h"

using ceres::CostFunction;
using ceres::Problem;
using ceres::Solve;
using ceres::Solver;

int main(int argc, char** argv) {
  google::InitGoogleLogging(argv[0]);

  // The variable to solve for with its initial value. It will be
  // mutated in place by the solver.
  double x = 0.5;
  const double initial_x = x;

  Problem problem;

  const double kTargetValue = 10.0;
  CostFunction* cost_function =
      new helloworld::HelloWorldCostFunction(kTargetValue);
  problem.AddResidualBlock(cost_function, NULL, &x);

  Solver::Options options;
  options.minimizer_progress_to_stdout = true;
  Solver::Summary summary;
  Solve(options, &problem, &summary);

  std::cout << summary.BriefReport() << "\n";
  std::cout << "x : " << initial_x << " -> " << x << "\n";
  return 0;
}