1// Ceres Solver - A fast non-linear least squares minimizer
2// Copyright 2013 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.
13// * Neither the name of Google Inc. nor the names of its contributors may be
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"
18// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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28//
29// Author: sameeragarwal@google.com (Sameer Agarwal)
30
31#include "ceres/covariance.h"
32
33#include <utility>
34#include <vector>
35#include "ceres/covariance_impl.h"
36#include "ceres/problem.h"
37#include "ceres/problem_impl.h"
38
39namespace ceres {
40
41Covariance::Covariance(const Covariance::Options& options) {
42  impl_.reset(new internal::CovarianceImpl(options));
43}
44
45Covariance::~Covariance() {
46}
47
48bool Covariance::Compute(
49    const vector<pair<const double*, const double*> >& covariance_blocks,
50    Problem* problem) {
51  return impl_->Compute(covariance_blocks, problem->problem_impl_.get());
52}
53
54bool Covariance::GetCovarianceBlock(const double* parameter_block1,
55                                    const double* parameter_block2,
56                                    double* covariance_block) const {
57  return impl_->GetCovarianceBlock(parameter_block1,
58                                   parameter_block2,
59                                   covariance_block);
60}
61
62}  // namespace ceres
63