commit 9123e2f624a218f84835717ab5300f879d77f1f0
author Sameer Agarwal <sameeragarwal@google.com> Tue Sep 18 21:49:06 2012 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Tue Sep 25 11:13:39 2012 -0700
tree f22fd987812211492a1736824b7cd7bf0c4129c9
parent b23fd4e6675fc76761a63bf76e80696a5a69dd35

An implementation of Ruhe & Wedin's Algorithm II.

A non-linear generalization of Ruhe & Wedin's algorithm
for separable non-linear least squares problem. It is implemented
as coordinate descent on an independent subset of the parameter
blocks at the end of every successful Newton step. The resulting
algorithm has much improved convergence at the cost of some
execution time.

Change-Id: I8fdc5edbd0ba1e702c9658b98041b2c2ae705402

internal/ceres/parameter_block.h

diff --git a/internal/ceres/parameter_block.h b/internal/ceres/parameter_block.h
index dd69cd6..f20805c 100644
--- a/internal/ceres/parameter_block.h
+++ b/internal/ceres/parameter_block.h
@@ -112,6 +112,10 @@
   int index() const { return index_; }
   void set_index(int index) { index_ = index; }
 
+  // This parameter offset inside a larger state vector.
+  int state_offset() const { return state_offset_; }
+  void set_state_offset(int state_offset) { state_offset_ = state_offset; }
+
   // This parameter offset inside a larger delta vector.
   int delta_offset() const { return delta_offset_; }
   void set_delta_offset(int delta_offset) { delta_offset_ = delta_offset; }
@@ -172,13 +176,14 @@
 
   string ToString() const {
     return StringPrintf("{ user_state=%p, state=%p, size=%d, "
-                        "constant=%d, index=%d, "
+                        "constant=%d, index=%d, state_offset=%d, "
                         "delta_offset=%d }",
                         user_state_,
                         state_,
                         size_,
                         is_constant_,
                         index_,
+                        state_offset_,
                         delta_offset_);
   }
 
@@ -197,6 +202,7 @@
     }
 
     index_ = -1;
+    state_offset_ = -1;
     delta_offset_ = -1;
   }
 
@@ -249,6 +255,9 @@
   // permit switching from a ParameterBlock* to an index in another array.
   int32 index_;
 
+  // The offset of this parameter block inside a larger state vector.
+  int32 state_offset_;
+
   // The offset of this parameter block inside a larger delta vector.
   int32 delta_offset_;