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/internal/ceres/compressed_row_sparse_matrix.h b/internal/ceres/compressed_row_sparse_matrix.h
index 7fb460a..04b5542 100644
--- a/internal/ceres/compressed_row_sparse_matrix.h
+++ b/internal/ceres/compressed_row_sparse_matrix.h
@@ -41,6 +41,9 @@
#include "ceres/types.h"
namespace ceres {
+
+class CRSMatrix;
+
namespace internal {
class SparseMatrixProto;
@@ -105,6 +108,8 @@
// have the same number of columns as this matrix.
void AppendRows(const CompressedRowSparseMatrix& m);
+ void ToCRSMatrix(CRSMatrix* matrix) const;
+
// Low level access methods that expose the structure of the matrix.
const int* cols() const { return cols_.get(); }
int* mutable_cols() { return cols_.get(); }
@@ -112,11 +117,11 @@
const int* rows() const { return rows_.get(); }
int* mutable_rows() { return rows_.get(); }
- const vector<int>& row_blocks() const { return row_blocks_; };
- vector<int>* mutable_row_blocks() { return &row_blocks_; };
+ const vector<int>& row_blocks() const { return row_blocks_; }
+ vector<int>* mutable_row_blocks() { return &row_blocks_; }
- const vector<int>& col_blocks() const { return col_blocks_; };
- vector<int>* mutable_col_blocks() { return &col_blocks_; };
+ const vector<int>& col_blocks() const { return col_blocks_; }
+ vector<int>* mutable_col_blocks() { return &col_blocks_; }
private:
scoped_array<int> cols_;
