Add Problem::SetParameterLowerBound and Problem::SetParameterUpperBound.

These two methods allow the user to associate upper and lower bounds
with individual parameters inside parameter blocks.

Change-Id: I68dc37f20b64408da510ba06b89a4f08df54ddad

include/ceres/problem.h

diff --git a/include/ceres/problem.h b/include/ceres/problem.h
index 77ff970..a7d7815 100644
--- a/include/ceres/problem.h
+++ b/include/ceres/problem.h
@@ -300,7 +300,7 @@
   // Hold the indicated parameter block constant during optimization.
   void SetParameterBlockConstant(double* values);
 
-  // Allow the indicated parameter to vary during optimization.
+  // Allow the indicated parameter block to vary during optimization.
   void SetParameterBlockVariable(double* values);
 
   // Set the local parameterization for one of the parameter blocks.
@@ -317,6 +317,10 @@
   // associated then NULL is returned.
   const LocalParameterization* GetParameterization(double* values) const;
 
+  // Set the lower/upper bound for the parameter with position "index".
+  void SetParameterLowerBound(double* values, int index, double lower_bound);
+  void SetParameterUpperBound(double* values, int index, double upper_bound);
+
   // Number of parameter blocks in the problem. Always equals
   // parameter_blocks().size() and parameter_block_sizes().size().
   int NumParameterBlocks() const;

internal/ceres/problem.cc

diff --git a/internal/ceres/problem.cc b/internal/ceres/problem.cc
index bc6d26a..9bdc1ef 100644
--- a/internal/ceres/problem.cc
+++ b/internal/ceres/problem.cc
@@ -183,6 +183,18 @@
   return problem_impl_->GetParameterization(values);
 }
 
+void Problem::SetParameterLowerBound(double* values,
+                                     int index,
+                                     double lower_bound) {
+  problem_impl_->SetParameterLowerBound(values, index, lower_bound);
+}
+
+void Problem::SetParameterUpperBound(double* values,
+                                     int index,
+                                     double upper_bound) {
+  problem_impl_->SetParameterUpperBound(values, index, upper_bound);
+}
+
 bool Problem::Evaluate(const EvaluateOptions& evaluate_options,
                        double* cost,
                        vector<double>* residuals,

internal/ceres/problem_impl.cc

diff --git a/internal/ceres/problem_impl.cc b/internal/ceres/problem_impl.cc
index 9882677..99f3f89 100644
--- a/internal/ceres/problem_impl.cc
+++ b/internal/ceres/problem_impl.cc
@@ -541,6 +541,20 @@
       ->local_parameterization();
 }
 
+void ProblemImpl::SetParameterLowerBound(double* values,
+                                         int index,
+                                         double lower_bound) {
+  FindParameterBlockOrDie(parameter_block_map_, values)
+      ->SetLowerBound(index, lower_bound);
+}
+
+void ProblemImpl::SetParameterUpperBound(double* values,
+                                         int index,
+                                         double upper_bound) {
+  FindParameterBlockOrDie(parameter_block_map_, values)
+      ->SetUpperBound(index, upper_bound);
+}
+
 bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options,
                            double* cost,
                            vector<double>* residuals,

internal/ceres/problem_impl.h

diff --git a/internal/ceres/problem_impl.h b/internal/ceres/problem_impl.h
index da50578..75bdc2b 100644
--- a/internal/ceres/problem_impl.h
+++ b/internal/ceres/problem_impl.h
@@ -129,6 +129,9 @@
                            LocalParameterization* local_parameterization);
   const LocalParameterization* GetParameterization(double* values) const;
 
+  void SetParameterLowerBound(double* values, int index, double lower_bound);
+  void SetParameterUpperBound(double* values, int index, double upper_bound);
+
   bool Evaluate(const Problem::EvaluateOptions& options,
                 double* cost,
                 vector<double>* residuals,