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/
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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
40namespace ceres {
41
42NormalPrior::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
51bool 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