diff options
Diffstat (limited to 'include/ceres/cost_function.h')
| -rw-r--r-- | include/ceres/cost_function.h | 18 |
1 files changed, 18 insertions, 0 deletions
diff --git a/include/ceres/cost_function.h b/include/ceres/cost_function.h index 9b010f7..8013e96 100644 --- a/include/ceres/cost_function.h +++ b/include/ceres/cost_function.h @@ -93,6 +93,24 @@ class CostFunction { // the case when computing cost only. If jacobians[i] is NULL, then // the jacobian block corresponding to the i'th parameter block must // not to be returned. + // + // The return value indicates whether the computation of the + // residuals and/or jacobians was successful or not. + // + // This can be used to communicate numerical failures in jacobian + // computations for instance. + // + // A more interesting and common use is to impose constraints on the + // parameters. If the initial values of the parameter blocks satisfy + // the constraints, then returning false whenever the constraints + // are not satisfied will prevent the solver from moving into the + // infeasible region. This is not a very sophisticated mechanism for + // enforcing constraints, but is often good enough for things like + // non-negativity constraints. + // + // Note that it is important that the initial values of the + // parameter block must be feasible, otherwise the solver will + // declare a numerical problem at iteration 0. virtual bool Evaluate(double const* const* parameters, double* residuals, double** jacobians) const = 0; |