Add IsParameterBlockConstant to the ceres::Problem class.
Change-Id: I7d0e828e81324443209c17fa54dd1d37605e5bfe
diff --git a/include/ceres/problem.h b/include/ceres/problem.h
index 409274c..14bf6c2 100644
--- a/include/ceres/problem.h
+++ b/include/ceres/problem.h
@@ -309,6 +309,9 @@
// Allow the indicated parameter block to vary during optimization.
void SetParameterBlockVariable(double* values);
+ // Returns true if a parameter block is set constant, and false otherwise.
+ bool IsParameterBlockConstant(double* values) const;
+
// Set the local parameterization for one of the parameter blocks.
// The local_parameterization is owned by the Problem by default. It
// is acceptable to set the same parameterization for multiple
diff --git a/internal/ceres/problem.cc b/internal/ceres/problem.cc
index 03b7d6a..730ce64 100644
--- a/internal/ceres/problem.cc
+++ b/internal/ceres/problem.cc
@@ -174,6 +174,10 @@
problem_impl_->SetParameterBlockVariable(values);
}
+bool Problem::IsParameterBlockConstant(double* values) const {
+ return problem_impl_->IsParameterBlockConstant(values);
+}
+
void Problem::SetParameterization(
double* values,
LocalParameterization* local_parameterization) {
diff --git a/internal/ceres/problem_impl.cc b/internal/ceres/problem_impl.cc
index 7137616..4abea8b 100644
--- a/internal/ceres/problem_impl.cc
+++ b/internal/ceres/problem_impl.cc
@@ -573,6 +573,16 @@
parameter_block->SetConstant();
}
+bool ProblemImpl::IsParameterBlockConstant(double* values) const {
+ const ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ CHECK(parameter_block != NULL)
+ << "Parameter block not found: " << values << ". You must add the "
+ << "parameter block to the problem before it can be queried.";
+
+ return parameter_block->IsConstant();
+}
+
void ProblemImpl::SetParameterBlockVariable(double* values) {
ParameterBlock* parameter_block =
FindWithDefault(parameter_block_map_, values, NULL);
diff --git a/internal/ceres/problem_impl.h b/internal/ceres/problem_impl.h
index f42bde6..a4689c3 100644
--- a/internal/ceres/problem_impl.h
+++ b/internal/ceres/problem_impl.h
@@ -128,6 +128,8 @@
void SetParameterBlockConstant(double* values);
void SetParameterBlockVariable(double* values);
+ bool IsParameterBlockConstant(double* values) const;
+
void SetParameterization(double* values,
LocalParameterization* local_parameterization);
const LocalParameterization* GetParameterization(double* values) const;
diff --git a/internal/ceres/problem_test.cc b/internal/ceres/problem_test.cc
index 31bf2d3..08d4b04 100644
--- a/internal/ceres/problem_test.cc
+++ b/internal/ceres/problem_test.cc
@@ -523,6 +523,41 @@
"Parameter block not found:");
}
+TEST(Problem, IsParameterBlockConstant) {
+ double x1[3];
+ double x2[3];
+
+ Problem problem;
+ problem.AddParameterBlock(x1, 3);
+ problem.AddParameterBlock(x2, 3);
+
+ EXPECT_FALSE(problem.IsParameterBlockConstant(x1));
+ EXPECT_FALSE(problem.IsParameterBlockConstant(x2));
+
+ problem.SetParameterBlockConstant(x1);
+ EXPECT_TRUE(problem.IsParameterBlockConstant(x1));
+ EXPECT_FALSE(problem.IsParameterBlockConstant(x2));
+
+ problem.SetParameterBlockConstant(x2);
+ EXPECT_TRUE(problem.IsParameterBlockConstant(x1));
+ EXPECT_TRUE(problem.IsParameterBlockConstant(x2));
+
+ problem.SetParameterBlockVariable(x1);
+ EXPECT_FALSE(problem.IsParameterBlockConstant(x1));
+ EXPECT_TRUE(problem.IsParameterBlockConstant(x2));
+}
+
+TEST(Problem, IsParameterBlockConstantWithUnknownPtrDies) {
+ double x[3];
+ double y[2];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+
+ EXPECT_DEATH_IF_SUPPORTED(problem.IsParameterBlockConstant(y),
+ "Parameter block not found:");
+}
+
TEST(Problem, SetLocalParameterizationWithUnknownPtrDies) {
double x[3];
double y[2];
