Return jacobians and gradients to the user.
1. Added CRSMatrix object which will store the initial
and final jacobians if requested by the user.
2. Conversion routine and test for converting a
CompressedRowSparseMatrix to CRSMatrix.
3. New Evaluator::Evaluate function to do the actual evaluation.
4. Changes to Program::StateVectorToParmeterBlocks and
Program::SetParameterBlockStatePtrstoUserStatePtrs so that
they do not try to set the state of constant parameter blocks.
5. Tests for Evaluator::Evaluate.
6. Minor cleanups in SolverImpl.
7. Minor cpplint cleanups triggered by this CL.
Change-Id: I3ac446484692f943c28f2723b719676f8c83ca3d
diff --git a/include/ceres/crs_matrix.h b/include/ceres/crs_matrix.h
new file mode 100644
index 0000000..c9fe8f7
--- /dev/null
+++ b/include/ceres/crs_matrix.h
@@ -0,0 +1,65 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_CRS_MATRIX_H_
+#define CERES_PUBLIC_CRS_MATRIX_H_
+
+#include <vector>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+// A compressed row sparse matrix used primarily for communicating the
+// Jacobian matrix to the user.
+struct CRSMatrix {
+ CRSMatrix() : num_rows(0), num_cols(0) {}
+
+ int num_rows;
+ int num_cols;
+
+ // A compressed row matrix stores its contents in three arrays.
+ // The non-zero pattern of the i^th row is given by
+ //
+ // rows[cols[i] ... cols[i + 1]]
+ //
+ // and the corresponding values by
+ //
+ // values[cols[i] ... cols[i + 1]]
+ //
+ // Thus, cols is a vector of size num_cols + 1, and rows and values
+ // have as many entries as number of non-zeros in the matrix.
+ vector<int> cols;
+ vector<int> rows;
+ vector<double> values;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_CRS_MATRIX_H_
