Initial commit of Ceres Solver.
diff --git a/internal/ceres/program.h b/internal/ceres/program.h
new file mode 100644
index 0000000..113d352
--- /dev/null
+++ b/internal/ceres/program.h
@@ -0,0 +1,128 @@
+// 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)
+
+#ifndef CERES_INTERNAL_PROGRAM_H_
+#define CERES_INTERNAL_PROGRAM_H_
+
+#include <vector>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+class ParameterBlock;
+class ProblemImpl;
+class ResidualBlock;
+
+// A nonlinear least squares optimization problem. This is different from the
+// similarly-named "Problem" object, which offers a mutation interface for
+// adding and modifying parameters and residuals. The Program contains the core
+// part of the Problem, which is the parameters and the residuals, stored in a
+// particular ordering. The ordering is critical, since it defines the mapping
+// between (residual, parameter) pairs and a position in the jacobian of the
+// objective function. Various parts of Ceres transform one Program into
+// another; for example, the first stage of solving involves stripping all
+// constant parameters and residuals. This is in contrast with Problem, which is
+// not built for transformation.
+class Program {
+ public:
+ Program();
+ explicit Program(const Program& program);
+
+ // The ordered parameter and residual blocks for the program.
+ const vector<ParameterBlock*>& parameter_blocks() const;
+ const vector<ResidualBlock*>& residual_blocks() const;
+ vector<ParameterBlock*>* mutable_parameter_blocks();
+ vector<ResidualBlock*>* mutable_residual_blocks();
+
+ // Serialize to/from the program and update states.
+ //
+ // NOTE: Setting the state of a parameter block can trigger the
+ // computation of the Jacobian of its local parameterization. If
+ // this computation fails for some reason, then this method returns
+ // false and the state of the parameter blocks cannot be trusted.
+ bool StateVectorToParameterBlocks(const double *state);
+ void ParameterBlocksToStateVector(double *state) const;
+
+ // Copy internal state out to the user's parameters.
+ void CopyParameterBlockStateToUserState();
+
+ // Update a state vector for the program given a delta.
+ bool Plus(const double* state,
+ const double* delta,
+ double* state_plus_delta) const;
+
+ // Set the parameter indices and offsets. This permits mapping backward
+ // from a ParameterBlock* to an index in the parameter_blocks() vector. For
+ // any parameter block p, after calling SetParameterOffsetsAndIndex(), it
+ // is true that
+ //
+ // parameter_blocks()[p->index()] == p
+ //
+ // If a parameter appears in a residual but not in the parameter block, then
+ // it will have an index of -1.
+ //
+ // This also updates p->state_offset() and p->delta_offset(), which are the
+ // position of the parameter in the state and delta vector respectively.
+ void SetParameterOffsetsAndIndex();
+
+ // See problem.h for what these do.
+ int NumParameterBlocks() const;
+ int NumParameters() const;
+ int NumEffectiveParameters() const;
+ int NumResidualBlocks() const;
+ int NumResiduals() const;
+
+ int MaxScratchDoublesNeededForEvaluate() const;
+ int MaxDerivativesPerResidualBlock() const;
+ int MaxParametersPerResidualBlock() const;
+
+ // Evaluate the cost and maybe the residuals for the program. If residuals is
+ // NULL, then residuals are not calculated. If the jacobian is needed, instead
+ // use the various evaluators (e.g. dense_evaluator.h).
+ //
+ // This is a trivial implementation of evaluate not intended for use in the
+ // core solving loop. The other evaluators, which support constructing the
+ // jacobian in addition to the cost and residuals, are considerably
+ // complicated by the need to construct the jacobian.
+ bool Evaluate(double* cost, double* residuals);
+
+ private:
+ // The Program does not own the ParameterBlock or ResidualBlock objects.
+ vector<ParameterBlock*> parameter_blocks_;
+ vector<ResidualBlock*> residual_blocks_;
+
+ friend class ProblemImpl;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_PROGRAM_H_
