Refactor Program related functions.
Move
ParameterBlocksAreFinite
IsBoundsConstrained
IsFeasible
RemoveFixedBlocks
IsParameterBlockSetIndependent
CreateJacobianBlockSparsity
from being static methods in SolverImpl to member functions
in the Program class.
Change-Id: I80fa4a429a716ea4371ad6c67864adad438e1553
diff --git a/internal/ceres/program.h b/internal/ceres/program.h
index 4288f60..7f2fc9d 100644
--- a/internal/ceres/program.h
+++ b/internal/ceres/program.h
@@ -31,6 +31,7 @@
#ifndef CERES_INTERNAL_PROGRAM_H_
#define CERES_INTERNAL_PROGRAM_H_
+#include <set>
#include <string>
#include <vector>
#include "ceres/internal/port.h"
@@ -41,6 +42,7 @@
class ParameterBlock;
class ProblemImpl;
class ResidualBlock;
+class TripletSparseMatrix;
// A nonlinear least squares optimization problem. This is different from the
// similarly-named "Problem" object, which offers a mutation interface for
@@ -103,6 +105,37 @@
// offsets) are correct.
bool IsValid() const;
+ bool ParameterBlocksAreFinite(string* message) const;
+
+ // Returns true if the program has any non-constant parameter blocks
+ // which have non-trivial bounds constraints.
+ bool IsBoundsConstrained() const;
+
+ // Returns false, if the program has any constant parameter blocks
+ // which are not feasible, or any variable parameter blocks which
+ // have a lower bound greater than or equal to the upper bound.
+ bool IsFeasible(string* message) const;
+
+ // Loop over each residual block and ensure that no two parameter
+ // blocks in the same residual block are part of
+ // parameter_blocks as that would violate the assumption that it
+ // is an independent set in the Hessian matrix.
+ bool IsParameterBlockSetIndependent(const set<double*>& independent_set) const;
+
+ // Create a TripletSparseMatrix which contains the zero-one
+ // structure corresponding to the block sparsity of the transpose of
+ // the Jacobian matrix.
+ //
+ // Caller owns the result.
+ TripletSparseMatrix* CreateJacobianBlockSparsityTranspose() const;
+
+ // Removes constant parameter blocks and residual blocks with no
+ // varying parameter blocks while preserving order.
+ // TODO(sameeragarwal): Update message here.
+ bool RemoveFixedBlocks(vector<double*>* removed_parameter_blocks,
+ double* fixed_cost,
+ string* message);
+
// See problem.h for what these do.
int NumParameterBlocks() const;
int NumParameters() const;
