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Diffstat (limited to 'extern/ceres/include/ceres/internal/array_selector.h')
| -rw-r--r-- | extern/ceres/include/ceres/internal/array_selector.h | 95 |
1 files changed, 95 insertions, 0 deletions
diff --git a/extern/ceres/include/ceres/internal/array_selector.h b/extern/ceres/include/ceres/internal/array_selector.h new file mode 100644 index 00000000000..841797f4c69 --- /dev/null +++ b/extern/ceres/include/ceres/internal/array_selector.h @@ -0,0 +1,95 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2020 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: darius.rueckert@fau.de (Darius Rueckert) +// + +#ifndef CERES_PUBLIC_INTERNAL_ARRAY_SELECTOR_H_ +#define CERES_PUBLIC_INTERNAL_ARRAY_SELECTOR_H_ + +#include <array> +#include <vector> + +#include "ceres/internal/fixed_array.h" +#include "ceres/types.h" + +namespace ceres { +namespace internal { + +// StaticFixedArray selects the best array implementation based on template +// arguments. If the size is not known at compile-time, pass +// ceres::DYNAMIC as a size-template argument. +// +// Three different containers are selected in different scenarios: +// +// num_elements == DYNAMIC: +// -> ceres::internal::FixedArray<T, max_stack_size>(size) + +// num_elements != DYNAMIC && num_elements <= max_stack_size +// -> std::array<T,num_elements> + +// num_elements != DYNAMIC && num_elements > max_stack_size +// -> std::vector<T>(num_elements) +// +template <typename T, + int num_elements, + int max_num_elements_on_stack, + bool dynamic = (num_elements == DYNAMIC), + bool fits_on_stack = (num_elements <= max_num_elements_on_stack)> +struct ArraySelector {}; + +template <typename T, + int num_elements, + int max_num_elements_on_stack, + bool fits_on_stack> +struct ArraySelector<T, + num_elements, + max_num_elements_on_stack, + true, + fits_on_stack> + : ceres::internal::FixedArray<T, max_num_elements_on_stack> { + ArraySelector(int s) + : ceres::internal::FixedArray<T, max_num_elements_on_stack>(s) {} +}; + +template <typename T, int num_elements, int max_num_elements_on_stack> +struct ArraySelector<T, num_elements, max_num_elements_on_stack, false, true> + : std::array<T, num_elements> { + ArraySelector(int s) { CHECK_EQ(s, num_elements); } +}; + +template <typename T, int num_elements, int max_num_elements_on_stack> +struct ArraySelector<T, num_elements, max_num_elements_on_stack, false, false> + : std::vector<T> { + ArraySelector(int s) : std::vector<T>(s) { CHECK_EQ(s, num_elements); } +}; + +} // namespace internal +} // namespace ceres + +#endif // CERES_PUBLIC_INTERNAL_ARRAY_SELECTOR_H_ |