diff options
Diffstat (limited to 'extern/ceres/include/ceres/autodiff_cost_function.h')
| -rw-r--r-- | extern/ceres/include/ceres/autodiff_cost_function.h | 89 |
1 files changed, 35 insertions, 54 deletions
diff --git a/extern/ceres/include/ceres/autodiff_cost_function.h b/extern/ceres/include/ceres/autodiff_cost_function.h index e7893e4828e..5e6e9c55db5 100644 --- a/extern/ceres/include/ceres/autodiff_cost_function.h +++ b/extern/ceres/include/ceres/autodiff_cost_function.h @@ -1,5 +1,5 @@ // Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2015 Google Inc. All rights reserved. +// Copyright 2019 Google Inc. All rights reserved. // http://ceres-solver.org/ // // Redistribution and use in source and binary forms, with or without @@ -30,7 +30,7 @@ // // Create CostFunctions as needed by the least squares framework, with // Jacobians computed via automatic differentiation. For more -// information on automatic differentation, see the wikipedia article +// information on automatic differentiation, see the wikipedia article // at http://en.wikipedia.org/wiki/Automatic_differentiation // // To get an auto differentiated cost function, you must define a class with a @@ -54,7 +54,7 @@ // for a series of measurements, where there is an instance of the cost function // for each measurement k. // -// The actual cost added to the total problem is e^2, or (k - x'k)^2; however, +// The actual cost added to the total problem is e^2, or (k - x'y)^2; however, // the squaring is implicitly done by the optimization framework. // // To write an auto-differentiable cost function for the above model, first @@ -90,7 +90,7 @@ // Dimension of x ---------------+ | // Dimension of y ------------------+ // -// In this example, there is usually an instance for each measumerent of k. +// In this example, there is usually an instance for each measurement of k. // // In the instantiation above, the template parameters following // "MyScalarCostFunctor", "1, 2, 2", describe the functor as computing a @@ -110,12 +110,8 @@ // Dimension of x ------------------------------------+ | // Dimension of y ---------------------------------------+ // -// The framework can currently accommodate cost functions of up to 10 -// independent variables, and there is no limit on the dimensionality -// of each of them. -// // WARNING #1: Since the functor will get instantiated with different types for -// T, you must to convert from other numeric types to T before mixing +// T, you must convert from other numeric types to T before mixing // computations with other variables of type T. In the example above, this is // seen where instead of using k_ directly, k_ is wrapped with T(k_). // @@ -129,8 +125,9 @@ #ifndef CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_ #define CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_ +#include <memory> + #include "ceres/internal/autodiff.h" -#include "ceres/internal/scoped_ptr.h" #include "ceres/sized_cost_function.h" #include "ceres/types.h" #include "glog/logging.h" @@ -138,7 +135,7 @@ namespace ceres { // A cost function which computes the derivative of the cost with respect to -// the parameters (a.k.a. the jacobian) using an autodifferentiation framework. +// the parameters (a.k.a. the jacobian) using an auto differentiation framework. // The first template argument is the functor object, described in the header // comment. The second argument is the dimension of the residual (or // ceres::DYNAMIC to indicate it will be set at runtime), and subsequent @@ -153,27 +150,15 @@ namespace ceres { // of residuals for a single autodiff cost function at runtime. template <typename CostFunctor, int kNumResiduals, // Number of residuals, or ceres::DYNAMIC. - int N0, // Number of parameters in block 0. - int N1 = 0, // Number of parameters in block 1. - int N2 = 0, // Number of parameters in block 2. - int N3 = 0, // Number of parameters in block 3. - int N4 = 0, // Number of parameters in block 4. - int N5 = 0, // Number of parameters in block 5. - int N6 = 0, // Number of parameters in block 6. - int N7 = 0, // Number of parameters in block 7. - int N8 = 0, // Number of parameters in block 8. - int N9 = 0> // Number of parameters in block 9. -class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals, - N0, N1, N2, N3, N4, - N5, N6, N7, N8, N9> { + int... Ns> // Number of parameters in each parameter block. +class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals, Ns...> { public: // Takes ownership of functor. Uses the template-provided value for the // number of residuals ("kNumResiduals"). - explicit AutoDiffCostFunction(CostFunctor* functor) - : functor_(functor) { - CHECK_NE(kNumResiduals, DYNAMIC) - << "Can't run the fixed-size constructor if the " - << "number of residuals is set to ceres::DYNAMIC."; + explicit AutoDiffCostFunction(CostFunctor* functor) : functor_(functor) { + static_assert(kNumResiduals != DYNAMIC, + "Can't run the fixed-size constructor if the number of " + "residuals is set to ceres::DYNAMIC."); } // Takes ownership of functor. Ignores the template-provided @@ -183,13 +168,10 @@ class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals, // numbers of residuals at runtime. AutoDiffCostFunction(CostFunctor* functor, int num_residuals) : functor_(functor) { - CHECK_EQ(kNumResiduals, DYNAMIC) - << "Can't run the dynamic-size constructor if the " - << "number of residuals is not ceres::DYNAMIC."; - SizedCostFunction<kNumResiduals, - N0, N1, N2, N3, N4, - N5, N6, N7, N8, N9> - ::set_num_residuals(num_residuals); + static_assert(kNumResiduals == DYNAMIC, + "Can't run the dynamic-size constructor if the number of " + "residuals is not ceres::DYNAMIC."); + SizedCostFunction<kNumResiduals, Ns...>::set_num_residuals(num_residuals); } virtual ~AutoDiffCostFunction() {} @@ -197,29 +179,28 @@ class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals, // Implementation details follow; clients of the autodiff cost function should // not have to examine below here. // - // To handle varardic cost functions, some template magic is needed. It's + // To handle variadic cost functions, some template magic is needed. It's // mostly hidden inside autodiff.h. - virtual bool Evaluate(double const* const* parameters, - double* residuals, - double** jacobians) const { + bool Evaluate(double const* const* parameters, + double* residuals, + double** jacobians) const override { + using ParameterDims = + typename SizedCostFunction<kNumResiduals, Ns...>::ParameterDims; + if (!jacobians) { - return internal::VariadicEvaluate< - CostFunctor, double, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> - ::Call(*functor_, parameters, residuals); + return internal::VariadicEvaluate<ParameterDims>( + *functor_, parameters, residuals); } - return internal::AutoDiff<CostFunctor, double, - N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate( - *functor_, - parameters, - SizedCostFunction<kNumResiduals, - N0, N1, N2, N3, N4, - N5, N6, N7, N8, N9>::num_residuals(), - residuals, - jacobians); - } + return internal::AutoDifferentiate<kNumResiduals, ParameterDims>( + *functor_, + parameters, + SizedCostFunction<kNumResiduals, Ns...>::num_residuals(), + residuals, + jacobians); + }; private: - internal::scoped_ptr<CostFunctor> functor_; + std::unique_ptr<CostFunctor> functor_; }; } // namespace ceres |