Initial commit of Ceres Solver.
diff --git a/internal/ceres/normal_prior.cc b/internal/ceres/normal_prior.cc
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+// 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: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/normal_prior.h"
+
+#include <cstddef>
+#include <vector>
+
+#include <glog/logging.h>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+NormalPrior::NormalPrior(const Matrix& A, const Vector& b)
+ : A_(A), b_(b) {
+ CHECK_GT(b_.rows(), 0);
+ CHECK_GT(A_.rows(), 0);
+ CHECK_EQ(b_.rows(), A.cols());
+ set_num_residuals(A_.rows());
+ mutable_parameter_block_sizes()->push_back(b_.rows());
+}
+
+bool NormalPrior::Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ ConstVectorRef p(parameters[0], parameter_block_sizes()[0]);
+ VectorRef r(residuals, num_residuals());
+ // The following line should read
+ // r = A_ * (p - b_);
+ // The extra eval is to get around a bug in the eigen library.
+ r = A_ * (p - b_).eval();
+ if ((jacobians != NULL) && (jacobians[0] != NULL)) {
+ MatrixRef(jacobians[0], num_residuals(), parameter_block_sizes()[0]) = A_;
+ }
+ return true;
+}
+
+} // namespace ceres
