Initial commit of Ceres Solver.
diff --git a/internal/ceres/problem_impl.h b/internal/ceres/problem_impl.h
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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: keir@google.com (Keir Mierle)
+//
+// This is the implementation of the public Problem API. The pointer to
+// implementation (PIMPL) idiom makes it possible for Ceres internal code to
+// refer to the private data members without needing to exposing it to the
+// world. An alternative to PIMPL is to have a factory which returns instances
+// of a virtual base class; while that approach would work, it requires clients
+// to always put a Problem object into a scoped pointer; this needlessly muddies
+// client code for little benefit. Therefore, the PIMPL comprise was chosen.
+
+#ifndef CERES_PUBLIC_PROBLEM_IMPL_H_
+#define CERES_PUBLIC_PROBLEM_IMPL_H_
+
+#include <map>
+#include <vector>
+
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/problem.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+class CostFunction;
+class LossFunction;
+class LocalParameterization;
+
+namespace internal {
+
+class Program;
+class ResidualBlock;
+
+class ProblemImpl {
+ public:
+ typedef map<double*, ParameterBlock*> ParameterMap;
+
+ ProblemImpl();
+ explicit ProblemImpl(const Problem::Options& options);
+
+ ~ProblemImpl();
+
+ // See the public problem.h file for description of these methods.
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ const vector<double*>& parameter_blocks);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5);
+ void AddParameterBlock(double* values, int size);
+ void AddParameterBlock(double* values,
+ int size,
+ LocalParameterization* local_parameterization);
+ void SetParameterBlockConstant(double* values);
+ void SetParameterBlockVariable(double* values);
+ void SetParameterization(double* values,
+ LocalParameterization* local_parameterization);
+ int NumParameterBlocks() const;
+ int NumParameters() const;
+ int NumResidualBlocks() const;
+ int NumResiduals() const;
+
+ const Program& program() const { return *program_; }
+ Program* mutable_program() { return program_.get(); }
+
+ const ParameterMap& parameter_map() const { return parameter_block_map_; }
+
+ private:
+ const Problem::Options options_;
+
+ // The mapping from user pointers to parameter blocks.
+ map<double*, ParameterBlock*> parameter_block_map_;
+
+ internal::scoped_ptr<internal::Program> program_;
+ DISALLOW_COPY_AND_ASSIGN(ProblemImpl);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_PROBLEM_IMPL_H_
