Add support for bounds to ParameterBlock.
Add setters and getters for lower and upper bounds.
Generalize the Plus operation to include projection onto the
hypercube implied by the bounds.
Change-Id: I1e4028a9886c4064f31bbc5b7c22b0341a56c15d
diff --git a/internal/ceres/parameter_block_test.cc b/internal/ceres/parameter_block_test.cc
index 09156f8..a76c408 100644
--- a/internal/ceres/parameter_block_test.cc
+++ b/internal/ceres/parameter_block_test.cc
@@ -169,5 +169,42 @@
EXPECT_FALSE(parameter_block.SetState(&y));
}
+TEST(ParameterBlock, DefaultBounds) {
+ double x[2];
+ ParameterBlock parameter_block(x, 2, -1, NULL);
+ const double* upper_bounds = parameter_block.upper_bounds();
+ EXPECT_EQ(upper_bounds[0], std::numeric_limits<double>::max());
+ EXPECT_EQ(upper_bounds[1], std::numeric_limits<double>::max());
+ const double* lower_bounds = parameter_block.lower_bounds();
+ EXPECT_EQ(lower_bounds[0], -std::numeric_limits<double>::max());
+ EXPECT_EQ(lower_bounds[1], -std::numeric_limits<double>::max());
+}
+
+TEST(ParameterBlock, SetBounds) {
+ double x[2];
+ ParameterBlock parameter_block(x, 2, -1, NULL);
+ parameter_block.SetUpperBound(1, 1);
+ parameter_block.SetLowerBound(0, 1);
+
+ const double* upper_bounds = parameter_block.upper_bounds();
+ EXPECT_EQ(upper_bounds[0], std::numeric_limits<double>::max());
+ EXPECT_EQ(upper_bounds[1], 1.0);
+ const double* lower_bounds = parameter_block.lower_bounds();
+ EXPECT_EQ(lower_bounds[0], 1.0);
+ EXPECT_EQ(lower_bounds[1], -std::numeric_limits<double>::max());
+}
+
+TEST(ParameterBlock, PlusWithBoundsConstraints) {
+ double x[] = {1.0, 0.0};
+ double delta[] = {2.0, -10.0};
+ ParameterBlock parameter_block(x, 2, -1, NULL);
+ parameter_block.SetUpperBound(0, 2.0);
+ parameter_block.SetLowerBound(1, -1.0);
+ double x_plus_delta[2];
+ parameter_block.Plus(x, delta, x_plus_delta);
+ EXPECT_EQ(x_plus_delta[0], 2.0);
+ EXPECT_EQ(x_plus_delta[1], -1.0);
+}
+
} // namespace internal
} // namespace ceres
