1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
3 // http://code.google.com/p/ceres-solver/
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
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9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
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14 // used to endorse or promote products derived from this software without
15 // specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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28 //
29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30
31 #include "ceres/normal_prior.h"
32
33 #include <cstddef>
34 #include <vector>
35 #include "ceres/internal/eigen.h"
36 #include "ceres/internal/scoped_ptr.h"
37 #include "ceres/types.h"
38 #include "glog/logging.h"
39
40 namespace ceres {
41
NormalPrior(const Matrix & A,const Vector & b)42 NormalPrior::NormalPrior(const Matrix& A, const Vector& b)
43 : A_(A), b_(b) {
44 CHECK_GT(b_.rows(), 0);
45 CHECK_GT(A_.rows(), 0);
46 CHECK_EQ(b_.rows(), A.cols());
47 set_num_residuals(A_.rows());
48 mutable_parameter_block_sizes()->push_back(b_.rows());
49 }
50
Evaluate(double const * const * parameters,double * residuals,double ** jacobians) const51 bool NormalPrior::Evaluate(double const* const* parameters,
52 double* residuals,
53 double** jacobians) const {
54 ConstVectorRef p(parameters[0], parameter_block_sizes()[0]);
55 VectorRef r(residuals, num_residuals());
56 // The following line should read
57 // r = A_ * (p - b_);
58 // The extra eval is to get around a bug in the eigen library.
59 r = A_ * (p - b_).eval();
60 if ((jacobians != NULL) && (jacobians[0] != NULL)) {
61 MatrixRef(jacobians[0], num_residuals(), parameter_block_sizes()[0]) = A_;
62 }
63 return true;
64 }
65
66 } // namespace ceres
67