diff options
Diffstat (limited to 'extern/ceres/include/ceres/cost_function.h')
-rw-r--r-- | extern/ceres/include/ceres/cost_function.h | 27 |
1 files changed, 12 insertions, 15 deletions
diff --git a/extern/ceres/include/ceres/cost_function.h b/extern/ceres/include/ceres/cost_function.h index f051a897c0d..d1550c119e8 100644 --- a/extern/ceres/include/ceres/cost_function.h +++ b/extern/ceres/include/ceres/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 @@ -44,18 +44,18 @@ #ifndef CERES_PUBLIC_COST_FUNCTION_H_ #define CERES_PUBLIC_COST_FUNCTION_H_ +#include <cstdint> #include <vector> -#include "ceres/internal/macros.h" -#include "ceres/internal/port.h" -#include "ceres/types.h" + #include "ceres/internal/disable_warnings.h" +#include "ceres/internal/port.h" namespace ceres { // This class implements the computation of the cost (a.k.a. residual) terms as // a function of the input (control) variables, and is the interface for users // to describe their least squares problem to Ceres. In other words, this is the -// modelling layer between users and the Ceres optimizer. The signature of the +// modeling layer between users and the Ceres optimizer. The signature of the // function (number and sizes of input parameter blocks and number of outputs) // is stored in parameter_block_sizes_ and num_residuals_ respectively. User // code inheriting from this class is expected to set these two members with the @@ -64,6 +64,8 @@ namespace ceres { class CERES_EXPORT CostFunction { public: CostFunction() : num_residuals_(0) {} + CostFunction(const CostFunction&) = delete; + void operator=(const CostFunction&) = delete; virtual ~CostFunction() {} @@ -115,29 +117,24 @@ class CERES_EXPORT CostFunction { double* residuals, double** jacobians) const = 0; - const std::vector<int32>& parameter_block_sizes() const { + const std::vector<int32_t>& parameter_block_sizes() const { return parameter_block_sizes_; } - int num_residuals() const { - return num_residuals_; - } + int num_residuals() const { return num_residuals_; } protected: - std::vector<int32>* mutable_parameter_block_sizes() { + std::vector<int32_t>* mutable_parameter_block_sizes() { return ¶meter_block_sizes_; } - void set_num_residuals(int num_residuals) { - num_residuals_ = num_residuals; - } + void set_num_residuals(int num_residuals) { num_residuals_ = num_residuals; } private: // Cost function signature metadata: number of inputs & their sizes, // number of outputs (residuals). - std::vector<int32> parameter_block_sizes_; + std::vector<int32_t> parameter_block_sizes_; int num_residuals_; - CERES_DISALLOW_COPY_AND_ASSIGN(CostFunction); }; } // namespace ceres |