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- #ifndef CERES_PUBLIC_PROBLEM_H_
- #define CERES_PUBLIC_PROBLEM_H_
- #include <array>
- #include <cstddef>
- #include <map>
- #include <memory>
- #include <set>
- #include <vector>
- #include "ceres/context.h"
- #include "ceres/internal/disable_warnings.h"
- #include "ceres/internal/export.h"
- #include "ceres/internal/port.h"
- #include "ceres/types.h"
- #include "glog/logging.h"
- namespace ceres {
- class CostFunction;
- class EvaluationCallback;
- class LossFunction;
- class Manifold;
- class Solver;
- struct CRSMatrix;
- namespace internal {
- class Preprocessor;
- class ProblemImpl;
- class ParameterBlock;
- class ResidualBlock;
- }
- using ResidualBlockId = internal::ResidualBlock*;
- class CERES_EXPORT Problem {
- public:
- struct CERES_EXPORT Options {
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- Ownership cost_function_ownership = TAKE_OWNERSHIP;
- Ownership loss_function_ownership = TAKE_OWNERSHIP;
- Ownership manifold_ownership = TAKE_OWNERSHIP;
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- bool enable_fast_removal = false;
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- bool disable_all_safety_checks = false;
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- Context* context = nullptr;
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- EvaluationCallback* evaluation_callback = nullptr;
- };
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- Problem();
- explicit Problem(const Options& options);
- Problem(Problem&&);
- Problem& operator=(Problem&&);
- Problem(const Problem&) = delete;
- Problem& operator=(const Problem&) = delete;
- ~Problem();
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- template <typename... Ts>
- ResidualBlockId AddResidualBlock(CostFunction* cost_function,
- LossFunction* loss_function,
- double* x0,
- Ts*... xs) {
- const std::array<double*, sizeof...(Ts) + 1> parameter_blocks{{x0, xs...}};
- return AddResidualBlock(cost_function,
- loss_function,
- parameter_blocks.data(),
- static_cast<int>(parameter_blocks.size()));
- }
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- ResidualBlockId AddResidualBlock(
- CostFunction* cost_function,
- LossFunction* loss_function,
- const std::vector<double*>& parameter_blocks);
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- ResidualBlockId AddResidualBlock(CostFunction* cost_function,
- LossFunction* loss_function,
- double* const* const parameter_blocks,
- int num_parameter_blocks);
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- void AddParameterBlock(double* values, int size);
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- void AddParameterBlock(double* values, int size, Manifold* manifold);
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- void RemoveParameterBlock(const double* values);
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- void RemoveResidualBlock(ResidualBlockId residual_block);
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- void SetParameterBlockConstant(const double* values);
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- void SetParameterBlockVariable(double* values);
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- bool IsParameterBlockConstant(const double* values) const;
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- void SetManifold(double* values, Manifold* manifold);
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- const Manifold* GetManifold(const double* values) const;
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- bool HasManifold(const double* values) const;
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- void SetParameterLowerBound(double* values, int index, double lower_bound);
- void SetParameterUpperBound(double* values, int index, double upper_bound);
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- double GetParameterLowerBound(const double* values, int index) const;
- double GetParameterUpperBound(const double* values, int index) const;
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- int NumParameterBlocks() const;
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- int NumParameters() const;
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- int NumResidualBlocks() const;
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- int NumResiduals() const;
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- int ParameterBlockSize(const double* values) const;
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- int ParameterBlockTangentSize(const double* values) const;
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- bool HasParameterBlock(const double* values) const;
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- void GetParameterBlocks(std::vector<double*>* parameter_blocks) const;
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- void GetResidualBlocks(std::vector<ResidualBlockId>* residual_blocks) const;
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- void GetParameterBlocksForResidualBlock(
- const ResidualBlockId residual_block,
- std::vector<double*>* parameter_blocks) const;
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- const CostFunction* GetCostFunctionForResidualBlock(
- const ResidualBlockId residual_block) const;
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- const LossFunction* GetLossFunctionForResidualBlock(
- const ResidualBlockId residual_block) const;
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- void GetResidualBlocksForParameterBlock(
- const double* values,
- std::vector<ResidualBlockId>* residual_blocks) const;
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- struct EvaluateOptions {
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- std::vector<double*> parameter_blocks;
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- std::vector<ResidualBlockId> residual_blocks;
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- bool apply_loss_function = true;
- int num_threads = 1;
- };
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- bool Evaluate(const EvaluateOptions& options,
- double* cost,
- std::vector<double>* residuals,
- std::vector<double>* gradient,
- CRSMatrix* jacobian);
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- bool EvaluateResidualBlock(ResidualBlockId residual_block_id,
- bool apply_loss_function,
- double* cost,
- double* residuals,
- double** jacobians) const;
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- bool EvaluateResidualBlockAssumingParametersUnchanged(
- ResidualBlockId residual_block_id,
- bool apply_loss_function,
- double* cost,
- double* residuals,
- double** jacobians) const;
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- const Options& options() const;
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- internal::ProblemImpl* mutable_impl();
- private:
- std::unique_ptr<internal::ProblemImpl> impl_;
- };
- }
- #include "ceres/internal/reenable_warnings.h"
- #endif
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