1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
31 #include "ceres/normal_prior.h"
35 #include "ceres/internal/eigen.h"
36 #include "ceres/internal/scoped_ptr.h"
37 #include "ceres/types.h"
38 #include "glog/logging.h"
42 NormalPrior::NormalPrior(const Matrix& A, const Vector& 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());
51 bool NormalPrior::Evaluate(double const* const* parameters,
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
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_;