commit c3c3dd872bd98c3df258d46dd76f93be8f81b73c
author Sameer Agarwal <sameeragarwal@google.com> Thu Apr 25 07:49:24 2013 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Fri Apr 26 07:38:13 2013 -0700
tree 99b2e824206587cfb7719fc39b8f13f7da35c15d
parent c1e10d9f57e0f2f0bbc84f699f9ad432615819a6

Use the evaluator to compute the gradient in TrustRegionMinimizer.

Evaluator now uses custom BLAS for gradient
computations.

Update the evaluator in trust_region_minimizer_test to compute
gradients.

Change-Id: I3f565bc203b47b2b795a0609d67f25775648653c

internal/ceres/program_evaluator.h

diff --git a/internal/ceres/program_evaluator.h b/internal/ceres/program_evaluator.h
index de56ac2..1f7fc0f 100644
--- a/internal/ceres/program_evaluator.h
+++ b/internal/ceres/program_evaluator.h
@@ -85,6 +85,7 @@
 
 #include <map>
 #include <vector>
+#include "ceres/blas.h"
 #include "ceres/execution_summary.h"
 #include "ceres/internal/eigen.h"
 #include "ceres/internal/scoped_ptr.h"
@@ -230,14 +231,13 @@
           if (parameter_block->IsConstant()) {
             continue;
           }
-          MatrixRef block_jacobian(block_jacobians[j],
-                                   num_residuals,
-                                   parameter_block->LocalSize());
-          VectorRef block_gradient(scratch->gradient.get() +
-                                   parameter_block->delta_offset(),
-                                   parameter_block->LocalSize());
-          VectorRef block_residual(block_residuals, num_residuals);
-          block_gradient += block_residual.transpose() * block_jacobian;
+
+          MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+              block_jacobians[j],
+              num_residuals,
+              parameter_block->LocalSize(),
+              block_residuals,
+              scratch->gradient.get() + parameter_block->delta_offset());
         }
       }
     }