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Diffstat (limited to 'extern/ceres/include/ceres/dynamic_cost_function.h')
-rw-r--r-- | extern/ceres/include/ceres/dynamic_cost_function.h | 56 |
1 files changed, 56 insertions, 0 deletions
diff --git a/extern/ceres/include/ceres/dynamic_cost_function.h b/extern/ceres/include/ceres/dynamic_cost_function.h new file mode 100644 index 00000000000..6e8a076ecd0 --- /dev/null +++ b/extern/ceres/include/ceres/dynamic_cost_function.h @@ -0,0 +1,56 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2019 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: sameeragarwal@google.com (Sameer Agarwal) + +#ifndef CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_ +#define CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_ + +#include "ceres/cost_function.h" + +namespace ceres { + +// A common base class for DynamicAutoDiffCostFunction and +// DynamicNumericDiffCostFunction which depend on methods that can add +// parameter blocks and set the number of residuals at run time. +class CERES_EXPORT DynamicCostFunction : public CostFunction { + public: + ~DynamicCostFunction() {} + + virtual void AddParameterBlock(int size) { + mutable_parameter_block_sizes()->push_back(size); + } + + virtual void SetNumResiduals(int num_residuals) { + set_num_residuals(num_residuals); + } +}; + +} // namespace ceres + +#endif // CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_ |