Initial commit of Ceres Solver.
diff --git a/internal/ceres/map_util.h b/internal/ceres/map_util.h
new file mode 100644
index 0000000..ddf1252
--- /dev/null
+++ b/internal/ceres/map_util.h
@@ -0,0 +1,129 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 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: keir@google.com (Keir Mierle)
+//
+// Originally by Anton Carver
+
+#ifndef CERES_INTERNAL_MAP_UTIL_H_
+#define CERES_INTERNAL_MAP_UTIL_H_
+
+#include <utility>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+// Perform a lookup in a map or hash_map, assuming that the key exists.
+// Crash if it does not.
+//
+// This is intended as a replacement for operator[] as an rvalue (for reading)
+// when the key is guaranteed to exist.
+//
+// operator[] is discouraged for several reasons:
+// * It has a side-effect of inserting missing keys
+// * It is not thread-safe (even when it is not inserting, it can still
+// choose to resize the underlying storage)
+// * It invalidates iterators (when it chooses to resize)
+// * It default constructs a value object even if it doesn't need to
+//
+// This version assumes the key is printable, and includes it in the fatal log
+// message.
+template <class Collection>
+const typename Collection::value_type::second_type&
+FindOrDie(const Collection& collection,
+ const typename Collection::value_type::first_type& key) {
+ typename Collection::const_iterator it = collection.find(key);
+ CHECK(it != collection.end()) << "Map key not found: " << key;
+ return it->second;
+}
+
+// Perform a lookup in a map or hash_map.
+// If the key is present in the map then the value associated with that
+// key is returned, otherwise the value passed as a default is returned.
+template <class Collection>
+const typename Collection::value_type::second_type&
+FindWithDefault(const Collection& collection,
+ const typename Collection::value_type::first_type& key,
+ const typename Collection::value_type::second_type& value) {
+ typename Collection::const_iterator it = collection.find(key);
+ if (it == collection.end()) {
+ return value;
+ }
+ return it->second;
+}
+
+// Insert a new key and value into a map or hash_map.
+// If the key is not present in the map the key and value are
+// inserted, otherwise nothing happens. True indicates that an insert
+// took place, false indicates the key was already present.
+template <class Collection>
+bool InsertIfNotPresent(
+ Collection * const collection,
+ const typename Collection::value_type::first_type& key,
+ const typename Collection::value_type::second_type& value) {
+ pair<typename Collection::iterator, bool> ret =
+ collection->insert(typename Collection::value_type(key, value));
+ return ret.second;
+}
+
+// Perform a lookup in a map or hash_map.
+// Same as above but the returned pointer is not const and can be used to change
+// the stored value.
+template <class Collection>
+typename Collection::value_type::second_type*
+FindOrNull(Collection& collection, // NOLINT
+ const typename Collection::value_type::first_type& key) {
+ typename Collection::iterator it = collection.find(key);
+ if (it == collection.end()) {
+ return 0;
+ }
+ return &it->second;
+}
+
+// Test to see if a set, map, hash_set or hash_map contains a particular key.
+// Returns true if the key is in the collection.
+template <class Collection, class Key>
+bool ContainsKey(const Collection& collection, const Key& key) {
+ typename Collection::const_iterator it = collection.find(key);
+ return it != collection.end();
+}
+
+// Inserts a new key/value into a map or hash_map.
+// Dies if the key is already present.
+template<class Collection>
+void InsertOrDie(Collection* const collection,
+ const typename Collection::value_type::first_type& key,
+ const typename Collection::value_type::second_type& data) {
+ typedef typename Collection::value_type value_type;
+ CHECK(collection->insert(value_type(key, data)).second)
+ << "duplicate key: " << key;
+}
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_MAP_UTIL_H_
