diff options
Diffstat (limited to 'extern/ceres/internal/ceres/gradient_problem.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/gradient_problem.cc | 17 |
1 files changed, 7 insertions, 10 deletions
diff --git a/extern/ceres/internal/ceres/gradient_problem.cc b/extern/ceres/internal/ceres/gradient_problem.cc index 4ebd3e60610..ba33fbc90f8 100644 --- a/extern/ceres/internal/ceres/gradient_problem.cc +++ b/extern/ceres/internal/ceres/gradient_problem.cc @@ -29,6 +29,7 @@ // Author: sameeragarwal@google.com (Sameer Agarwal) #include "ceres/gradient_problem.h" + #include "ceres/local_parameterization.h" #include "glog/logging.h" @@ -38,14 +39,13 @@ GradientProblem::GradientProblem(FirstOrderFunction* function) : function_(function), parameterization_( new IdentityParameterization(function_->NumParameters())), - scratch_(new double[function_->NumParameters()]) { -} + scratch_(new double[function_->NumParameters()]) {} GradientProblem::GradientProblem(FirstOrderFunction* function, LocalParameterization* parameterization) - : function_(function), - parameterization_(parameterization), - scratch_(new double[function_->NumParameters()]) { + : function_(function), + parameterization_(parameterization), + scratch_(new double[function_->NumParameters()]) { CHECK_EQ(function_->NumParameters(), parameterization_->GlobalSize()); } @@ -57,7 +57,6 @@ int GradientProblem::NumLocalParameters() const { return parameterization_->LocalSize(); } - bool GradientProblem::Evaluate(const double* parameters, double* cost, double* gradient) const { @@ -66,10 +65,8 @@ bool GradientProblem::Evaluate(const double* parameters, } return (function_->Evaluate(parameters, cost, scratch_.get()) && - parameterization_->MultiplyByJacobian(parameters, - 1, - scratch_.get(), - gradient)); + parameterization_->MultiplyByJacobian( + parameters, 1, scratch_.get(), gradient)); } bool GradientProblem::Plus(const double* x, |