diff options
Diffstat (limited to 'extern/ceres/include/ceres/cost_function_to_functor.h')
| -rw-r--r-- | extern/ceres/include/ceres/cost_function_to_functor.h | 612 |
1 files changed, 50 insertions, 562 deletions
diff --git a/extern/ceres/include/ceres/cost_function_to_functor.h b/extern/ceres/include/ceres/cost_function_to_functor.h index d2dc94725e4..1beeb906063 100644 --- a/extern/ceres/include/ceres/cost_function_to_functor.h +++ b/extern/ceres/include/ceres/cost_function_to_functor.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 @@ // // CostFunctionToFunctor is an adapter class that allows users to use // SizedCostFunction objects in templated functors which are to be used for -// automatic differentiation. This allows the user to seamlessly mix +// automatic differentiation. This allows the user to seamlessly mix // analytic, numeric and automatic differentiation. // // For example, let us assume that @@ -38,16 +38,15 @@ // class IntrinsicProjection : public SizedCostFunction<2, 5, 3> { // public: // IntrinsicProjection(const double* observation); -// virtual bool Evaluate(double const* const* parameters, -// double* residuals, -// double** jacobians) const; +// bool Evaluate(double const* const* parameters, +// double* residuals, +// double** jacobians) const override; // }; // // is a cost function that implements the projection of a point in its // local coordinate system onto its image plane and subtracts it from // the observed point projection. It can compute its residual and -// either via analytic or numerical differentiation can compute its -// jacobians. +// jacobians either via analytic or numerical differentiation. // // Now we would like to compose the action of this CostFunction with // the action of camera extrinsics, i.e., rotation and @@ -87,594 +86,83 @@ #ifndef CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_ #define CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_ +#include <cstdint> #include <numeric> +#include <tuple> +#include <utility> #include <vector> #include "ceres/cost_function.h" #include "ceres/dynamic_cost_function_to_functor.h" #include "ceres/internal/fixed_array.h" +#include "ceres/internal/parameter_dims.h" #include "ceres/internal/port.h" -#include "ceres/internal/scoped_ptr.h" +#include "ceres/types.h" namespace ceres { -template <int kNumResiduals, - int N0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0, - int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0> +template <int kNumResiduals, int... Ns> class CostFunctionToFunctor { public: // Takes ownership of cost_function. explicit CostFunctionToFunctor(CostFunction* cost_function) : cost_functor_(cost_function) { - CHECK_NOTNULL(cost_function); + CHECK(cost_function != nullptr); CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC); - // This block breaks the 80 column rule to keep it somewhat readable. - CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || - ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || - ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT - ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT - ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT - ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) || // NOLINT - ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) || // NOLINT - ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) || // NOLINT - ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) || // NOLINT - ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0))) // NOLINT - << "Zero block cannot precede a non-zero block. Block sizes are " - << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", " - << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", " - << N8 << ", " << N9; - - const std::vector<int32>& parameter_block_sizes = + const std::vector<int32_t>& parameter_block_sizes = cost_function->parameter_block_sizes(); - const int num_parameter_blocks = - (N0 > 0) + (N1 > 0) + (N2 > 0) + (N3 > 0) + (N4 > 0) + - (N5 > 0) + (N6 > 0) + (N7 > 0) + (N8 > 0) + (N9 > 0); + const int num_parameter_blocks = ParameterDims::kNumParameterBlocks; CHECK_EQ(static_cast<int>(parameter_block_sizes.size()), num_parameter_blocks); - CHECK_EQ(N0, parameter_block_sizes[0]); - if (parameter_block_sizes.size() > 1) CHECK_EQ(N1, parameter_block_sizes[1]); // NOLINT - if (parameter_block_sizes.size() > 2) CHECK_EQ(N2, parameter_block_sizes[2]); // NOLINT - if (parameter_block_sizes.size() > 3) CHECK_EQ(N3, parameter_block_sizes[3]); // NOLINT - if (parameter_block_sizes.size() > 4) CHECK_EQ(N4, parameter_block_sizes[4]); // NOLINT - if (parameter_block_sizes.size() > 5) CHECK_EQ(N5, parameter_block_sizes[5]); // NOLINT - if (parameter_block_sizes.size() > 6) CHECK_EQ(N6, parameter_block_sizes[6]); // NOLINT - if (parameter_block_sizes.size() > 7) CHECK_EQ(N7, parameter_block_sizes[7]); // NOLINT - if (parameter_block_sizes.size() > 8) CHECK_EQ(N8, parameter_block_sizes[8]); // NOLINT - if (parameter_block_sizes.size() > 9) CHECK_EQ(N9, parameter_block_sizes[9]); // NOLINT - - CHECK_EQ(accumulate(parameter_block_sizes.begin(), - parameter_block_sizes.end(), 0), - N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9); - } - - bool operator()(const double* x0, double* residuals) const { - CHECK_NE(N0, 0); - CHECK_EQ(N1, 0); - CHECK_EQ(N2, 0); - CHECK_EQ(N3, 0); - CHECK_EQ(N4, 0); - CHECK_EQ(N5, 0); - CHECK_EQ(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - - return cost_functor_(&x0, residuals); - } - - bool operator()(const double* x0, - const double* x1, - double* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_EQ(N2, 0); - CHECK_EQ(N3, 0); - CHECK_EQ(N4, 0); - CHECK_EQ(N5, 0); - CHECK_EQ(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const double*> parameter_blocks(2); - parameter_blocks[0] = x0; - parameter_blocks[1] = x1; - return cost_functor_(parameter_blocks.get(), residuals); - } - - bool operator()(const double* x0, - const double* x1, - const double* x2, - double* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_EQ(N3, 0); - CHECK_EQ(N4, 0); - CHECK_EQ(N5, 0); - CHECK_EQ(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const double*> parameter_blocks(3); - parameter_blocks[0] = x0; - parameter_blocks[1] = x1; - parameter_blocks[2] = x2; - return cost_functor_(parameter_blocks.get(), residuals); - } + if (parameter_block_sizes.size() == num_parameter_blocks) { + for (int block = 0; block < num_parameter_blocks; ++block) { + CHECK_EQ(ParameterDims::GetDim(block), parameter_block_sizes[block]) + << "Parameter block size missmatch. The specified static parameter " + "block dimension does not match the one from the cost function."; + } + } - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - double* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_EQ(N4, 0); - CHECK_EQ(N5, 0); - CHECK_EQ(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const double*> parameter_blocks(4); - parameter_blocks[0] = x0; - parameter_blocks[1] = x1; - parameter_blocks[2] = x2; - parameter_blocks[3] = x3; - return cost_functor_(parameter_blocks.get(), residuals); + CHECK_EQ(accumulate( + parameter_block_sizes.begin(), parameter_block_sizes.end(), 0), + ParameterDims::kNumParameters); } - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - const double* x4, - double* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_NE(N4, 0); - CHECK_EQ(N5, 0); - CHECK_EQ(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const double*> parameter_blocks(5); - parameter_blocks[0] = x0; - parameter_blocks[1] = x1; - parameter_blocks[2] = x2; - parameter_blocks[3] = x3; - parameter_blocks[4] = x4; - return cost_functor_(parameter_blocks.get(), residuals); - } + template <typename T, typename... Ts> + bool operator()(const T* p1, Ts*... ps) const { + // Add one because of residual block. + static_assert(sizeof...(Ts) + 1 == ParameterDims::kNumParameterBlocks + 1, + "Invalid number of parameter blocks specified."); - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - const double* x4, - const double* x5, - double* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_NE(N4, 0); - CHECK_NE(N5, 0); - CHECK_EQ(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const double*> parameter_blocks(6); - parameter_blocks[0] = x0; - parameter_blocks[1] = x1; - parameter_blocks[2] = x2; - parameter_blocks[3] = x3; - parameter_blocks[4] = x4; - parameter_blocks[5] = x5; - return cost_functor_(parameter_blocks.get(), residuals); - } + auto params = std::make_tuple(p1, ps...); - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - const double* x4, - const double* x5, - const double* x6, - double* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_NE(N4, 0); - CHECK_NE(N5, 0); - CHECK_NE(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const double*> parameter_blocks(7); - parameter_blocks[0] = x0; - parameter_blocks[1] = x1; - parameter_blocks[2] = x2; - parameter_blocks[3] = x3; - parameter_blocks[4] = x4; - parameter_blocks[5] = x5; - parameter_blocks[6] = x6; - return cost_functor_(parameter_blocks.get(), residuals); - } + // Extract residual pointer from params. The residual pointer is the + // last pointer. + constexpr int kResidualIndex = ParameterDims::kNumParameterBlocks; + T* residuals = std::get<kResidualIndex>(params); - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - const double* x4, - const double* x5, - const double* x6, - const double* x7, - double* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_NE(N4, 0); - CHECK_NE(N5, 0); - CHECK_NE(N6, 0); - CHECK_NE(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const double*> parameter_blocks(8); - parameter_blocks[0] = x0; - parameter_blocks[1] = x1; - parameter_blocks[2] = x2; - parameter_blocks[3] = x3; - parameter_blocks[4] = x4; - parameter_blocks[5] = x5; - parameter_blocks[6] = x6; - parameter_blocks[7] = x7; - return cost_functor_(parameter_blocks.get(), residuals); - } - - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - const double* x4, - const double* x5, - const double* x6, - const double* x7, - const double* x8, - double* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_NE(N4, 0); - CHECK_NE(N5, 0); - CHECK_NE(N6, 0); - CHECK_NE(N7, 0); - CHECK_NE(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const double*> parameter_blocks(9); - parameter_blocks[0] = x0; - parameter_blocks[1] = x1; - parameter_blocks[2] = x2; - parameter_blocks[3] = x3; - parameter_blocks[4] = x4; - parameter_blocks[5] = x5; - parameter_blocks[6] = x6; - parameter_blocks[7] = x7; - parameter_blocks[8] = x8; - return cost_functor_(parameter_blocks.get(), residuals); - } - - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - const double* x4, - const double* x5, - const double* x6, - const double* x7, - const double* x8, - const double* x9, - double* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_NE(N4, 0); - CHECK_NE(N5, 0); - CHECK_NE(N6, 0); - CHECK_NE(N7, 0); - CHECK_NE(N8, 0); - CHECK_NE(N9, 0); - internal::FixedArray<const double*> parameter_blocks(10); - parameter_blocks[0] = x0; - parameter_blocks[1] = x1; - parameter_blocks[2] = x2; - parameter_blocks[3] = x3; - parameter_blocks[4] = x4; - parameter_blocks[5] = x5; - parameter_blocks[6] = x6; - parameter_blocks[7] = x7; - parameter_blocks[8] = x8; - parameter_blocks[9] = x9; - return cost_functor_(parameter_blocks.get(), residuals); - } + // Extract parameter block pointers from params. + using Indices = + std::make_integer_sequence<int, + ParameterDims::kNumParameterBlocks>; + std::array<const T*, ParameterDims::kNumParameterBlocks> parameter_blocks = + GetParameterPointers<T>(params, Indices()); - template <typename JetT> - bool operator()(const JetT* x0, JetT* residuals) const { - CHECK_NE(N0, 0); - CHECK_EQ(N1, 0); - CHECK_EQ(N2, 0); - CHECK_EQ(N3, 0); - CHECK_EQ(N4, 0); - CHECK_EQ(N5, 0); - CHECK_EQ(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - return cost_functor_(&x0, residuals); + return cost_functor_(parameter_blocks.data(), residuals); } - template <typename JetT> - bool operator()(const JetT* x0, - const JetT* x1, - JetT* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_EQ(N2, 0); - CHECK_EQ(N3, 0); - CHECK_EQ(N4, 0); - CHECK_EQ(N5, 0); - CHECK_EQ(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const JetT*> jets(2); - jets[0] = x0; - jets[1] = x1; - return cost_functor_(jets.get(), residuals); - } - - template <typename JetT> - bool operator()(const JetT* x0, - const JetT* x1, - const JetT* x2, - JetT* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_EQ(N3, 0); - CHECK_EQ(N4, 0); - CHECK_EQ(N5, 0); - CHECK_EQ(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const JetT*> jets(3); - jets[0] = x0; - jets[1] = x1; - jets[2] = x2; - return cost_functor_(jets.get(), residuals); - } - - template <typename JetT> - bool operator()(const JetT* x0, - const JetT* x1, - const JetT* x2, - const JetT* x3, - JetT* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_EQ(N4, 0); - CHECK_EQ(N5, 0); - CHECK_EQ(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const JetT*> jets(4); - jets[0] = x0; - jets[1] = x1; - jets[2] = x2; - jets[3] = x3; - return cost_functor_(jets.get(), residuals); - } - - template <typename JetT> - bool operator()(const JetT* x0, - const JetT* x1, - const JetT* x2, - const JetT* x3, - const JetT* x4, - JetT* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_NE(N4, 0); - CHECK_EQ(N5, 0); - CHECK_EQ(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const JetT*> jets(5); - jets[0] = x0; - jets[1] = x1; - jets[2] = x2; - jets[3] = x3; - jets[4] = x4; - return cost_functor_(jets.get(), residuals); - } - - template <typename JetT> - bool operator()(const JetT* x0, - const JetT* x1, - const JetT* x2, - const JetT* x3, - const JetT* x4, - const JetT* x5, - JetT* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_NE(N4, 0); - CHECK_NE(N5, 0); - CHECK_EQ(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const JetT*> jets(6); - jets[0] = x0; - jets[1] = x1; - jets[2] = x2; - jets[3] = x3; - jets[4] = x4; - jets[5] = x5; - return cost_functor_(jets.get(), residuals); - } - - template <typename JetT> - bool operator()(const JetT* x0, - const JetT* x1, - const JetT* x2, - const JetT* x3, - const JetT* x4, - const JetT* x5, - const JetT* x6, - JetT* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_NE(N4, 0); - CHECK_NE(N5, 0); - CHECK_NE(N6, 0); - CHECK_EQ(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const JetT*> jets(7); - jets[0] = x0; - jets[1] = x1; - jets[2] = x2; - jets[3] = x3; - jets[4] = x4; - jets[5] = x5; - jets[6] = x6; - return cost_functor_(jets.get(), residuals); - } - - template <typename JetT> - bool operator()(const JetT* x0, - const JetT* x1, - const JetT* x2, - const JetT* x3, - const JetT* x4, - const JetT* x5, - const JetT* x6, - const JetT* x7, - JetT* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_NE(N4, 0); - CHECK_NE(N5, 0); - CHECK_NE(N6, 0); - CHECK_NE(N7, 0); - CHECK_EQ(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const JetT*> jets(8); - jets[0] = x0; - jets[1] = x1; - jets[2] = x2; - jets[3] = x3; - jets[4] = x4; - jets[5] = x5; - jets[6] = x6; - jets[7] = x7; - return cost_functor_(jets.get(), residuals); - } - - template <typename JetT> - bool operator()(const JetT* x0, - const JetT* x1, - const JetT* x2, - const JetT* x3, - const JetT* x4, - const JetT* x5, - const JetT* x6, - const JetT* x7, - const JetT* x8, - JetT* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_NE(N4, 0); - CHECK_NE(N5, 0); - CHECK_NE(N6, 0); - CHECK_NE(N7, 0); - CHECK_NE(N8, 0); - CHECK_EQ(N9, 0); - internal::FixedArray<const JetT*> jets(9); - jets[0] = x0; - jets[1] = x1; - jets[2] = x2; - jets[3] = x3; - jets[4] = x4; - jets[5] = x5; - jets[6] = x6; - jets[7] = x7; - jets[8] = x8; - return cost_functor_(jets.get(), residuals); - } + private: + using ParameterDims = internal::StaticParameterDims<Ns...>; - template <typename JetT> - bool operator()(const JetT* x0, - const JetT* x1, - const JetT* x2, - const JetT* x3, - const JetT* x4, - const JetT* x5, - const JetT* x6, - const JetT* x7, - const JetT* x8, - const JetT* x9, - JetT* residuals) const { - CHECK_NE(N0, 0); - CHECK_NE(N1, 0); - CHECK_NE(N2, 0); - CHECK_NE(N3, 0); - CHECK_NE(N4, 0); - CHECK_NE(N5, 0); - CHECK_NE(N6, 0); - CHECK_NE(N7, 0); - CHECK_NE(N8, 0); - CHECK_NE(N9, 0); - internal::FixedArray<const JetT*> jets(10); - jets[0] = x0; - jets[1] = x1; - jets[2] = x2; - jets[3] = x3; - jets[4] = x4; - jets[5] = x5; - jets[6] = x6; - jets[7] = x7; - jets[8] = x8; - jets[9] = x9; - return cost_functor_(jets.get(), residuals); + template <typename T, typename Tuple, int... Indices> + static std::array<const T*, ParameterDims::kNumParameterBlocks> + GetParameterPointers(const Tuple& paramPointers, + std::integer_sequence<int, Indices...>) { + return std::array<const T*, ParameterDims::kNumParameterBlocks>{ + {std::get<Indices>(paramPointers)...}}; } - private: DynamicCostFunctionToFunctor cost_functor_; }; |