// Ceres Solver - A fast non-linear least squares minimizer

// Copyright 2015 Google Inc. All rights reserved.

// http://ceres-solver.org/

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// Author: sameeragarwal@google.com (Sameer Agarwal)

#include "ceres/covariance.h"

#include <utility>

#include <vector>

#include "ceres/covariance_impl.h"

#include "ceres/problem.h"

#include "ceres/problem_impl.h"

namespace ceres {

using std::make_pair;

using std::pair;

using std::vector;

Covariance::Covariance(const Covariance::Options& options) {

  impl_.reset(new internal::CovarianceImpl(options));

}

Covariance::~Covariance() {

}

bool Covariance::Compute(

    const vector<pair<const double*, const double*> >& covariance_blocks,

    Problem* problem) {

  return impl_->Compute(covariance_blocks, problem->problem_impl_.get());

}

bool Covariance::Compute(

    const vector<const double*>& parameter_blocks,

    Problem* problem) {

  return impl_->Compute(parameter_blocks, problem->problem_impl_.get());

}

bool Covariance::GetCovarianceBlock(const double* parameter_block1,

                                    const double* parameter_block2,

                                    double* covariance_block) const {

  return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1,

                                                          parameter_block2,

                                                          true,  // ambient

                                                          covariance_block);

}

bool Covariance::GetCovarianceBlockInTangentSpace(

    const double* parameter_block1,

    const double* parameter_block2,

    double* covariance_block) const {

  return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1,

                                                          parameter_block2,

                                                          false,  // tangent

                                                          covariance_block);

}

bool Covariance::GetCovarianceMatrix(

    const vector<const double*>& parameter_blocks,

    double* covariance_matrix) {

  return impl_->GetCovarianceMatrixInTangentOrAmbientSpace(parameter_blocks,

                                                           true,  // ambient

                                                           covariance_matrix);

}

bool Covariance::GetCovarianceMatrixInTangentSpace(

    const std::vector<const double *>& parameter_blocks,

    double *covariance_matrix) {

  return impl_->GetCovarianceMatrixInTangentOrAmbientSpace(parameter_blocks,

                                                           false,  // tangent

                                                           covariance_matrix);

}

}  // namespace ceres