// 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/residual_block_utils.h"

#include <cmath>

#include <cstddef>

#include <limits>

#include "ceres/array_utils.h"

#include "ceres/internal/eigen.h"

#include "ceres/internal/port.h"

#include "ceres/parameter_block.h"

#include "ceres/residual_block.h"

#include "ceres/stringprintf.h"

#include "glog/logging.h"

namespace ceres {

namespace internal {

using std::string;

void InvalidateEvaluation(const ResidualBlock& block,

                          double* cost,

                          double* residuals,

                          double** jacobians) {

  const int num_parameter_blocks = block.NumParameterBlocks();

  const int num_residuals = block.NumResiduals();

  InvalidateArray(1, cost);

  InvalidateArray(num_residuals, residuals);

  if (jacobians != NULL) {

    for (int i = 0; i < num_parameter_blocks; ++i) {

      const int parameter_block_size = block.parameter_blocks()[i]->Size();

      InvalidateArray(num_residuals * parameter_block_size, jacobians[i]);

    }

  }

}

string EvaluationToString(const ResidualBlock& block,

                          double const* const* parameters,

                          double* cost,

                          double* residuals,

                          double** jacobians) {

  CHECK_NOTNULL(cost);

  CHECK_NOTNULL(residuals);

  const int num_parameter_blocks = block.NumParameterBlocks();

  const int num_residuals = block.NumResiduals();

  string result = "";

  StringAppendF(&result,

                "Residual Block size: %d parameter blocks x %d residuals\n\n",

                num_parameter_blocks, num_residuals);

  result +=

      "For each parameter block, the value of the parameters are printed in the first column   \n"  // NOLINT

      "and the value of the jacobian under the corresponding residual. If a ParameterBlock was \n"  // NOLINT

      "held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry \n"  // NOLINT

      "of the Jacobian/residual array was requested but was not written to by user code, it is \n"  // NOLINT

      "indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating \n"  // NOLINT

      "to Inf or NaN is also an error.  \n\n"; // NOLINT

  string space = "Residuals:     ";

  result += space;

  AppendArrayToString(num_residuals, residuals, &result);

  StringAppendF(&result, "\n\n");

  for (int i = 0; i < num_parameter_blocks; ++i) {

    const int parameter_block_size = block.parameter_blocks()[i]->Size();

    StringAppendF(

        &result, "Parameter Block %d, size: %d\n", i, parameter_block_size);

    StringAppendF(&result, "\n");

    for (int j = 0; j < parameter_block_size; ++j) {

      AppendArrayToString(1, parameters[i] + j, &result);

      StringAppendF(&result, "| ");

      for (int k = 0; k < num_residuals; ++k) {

        AppendArrayToString(1,

                            (jacobians != NULL && jacobians[i] != NULL)

                            ? jacobians[i] + k * parameter_block_size + j

                            : NULL,

                            &result);

      }

      StringAppendF(&result, "\n");

    }

    StringAppendF(&result, "\n");

  }

  StringAppendF(&result, "\n");

  return result;

}

bool IsEvaluationValid(const ResidualBlock& block,

                       double const* const* parameters,

                       double* cost,

                       double* residuals,

                       double** jacobians) {

  const int num_parameter_blocks = block.NumParameterBlocks();

  const int num_residuals = block.NumResiduals();

  if (!IsArrayValid(num_residuals, residuals)) {

    return false;

  }

  if (jacobians != NULL) {

    for (int i = 0; i < num_parameter_blocks; ++i) {

      const int parameter_block_size = block.parameter_blocks()[i]->Size();

      if (!IsArrayValid(num_residuals * parameter_block_size, jacobians[i])) {

        return false;

      }

    }

  }

  return true;

}

}  // namespace internal

}  // namespace ceres