diff options
Diffstat (limited to 'extern/ceres/internal/ceres/dogleg_strategy.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/dogleg_strategy.cc | 12 |
1 files changed, 7 insertions, 5 deletions
diff --git a/extern/ceres/internal/ceres/dogleg_strategy.cc b/extern/ceres/internal/ceres/dogleg_strategy.cc index 839e1816338..ecc6b882338 100644 --- a/extern/ceres/internal/ceres/dogleg_strategy.cc +++ b/extern/ceres/internal/ceres/dogleg_strategy.cc @@ -30,7 +30,9 @@ #include "ceres/dogleg_strategy.h" +#include <algorithm> #include <cmath> + #include "Eigen/Dense" #include "ceres/array_utils.h" #include "ceres/internal/eigen.h" @@ -64,7 +66,7 @@ DoglegStrategy::DoglegStrategy(const TrustRegionStrategy::Options& options) dogleg_step_norm_(0.0), reuse_(false), dogleg_type_(options.dogleg_type) { - CHECK_NOTNULL(linear_solver_); + CHECK(linear_solver_ != nullptr); CHECK_GT(min_diagonal_, 0.0); CHECK_LE(min_diagonal_, max_diagonal_); CHECK_GT(max_radius_, 0.0); @@ -79,9 +81,9 @@ TrustRegionStrategy::Summary DoglegStrategy::ComputeStep( SparseMatrix* jacobian, const double* residuals, double* step) { - CHECK_NOTNULL(jacobian); - CHECK_NOTNULL(residuals); - CHECK_NOTNULL(step); + CHECK(jacobian != nullptr); + CHECK(residuals != nullptr); + CHECK(step != nullptr); const int n = jacobian->num_cols(); if (reuse_) { @@ -469,7 +471,7 @@ double DoglegStrategy::EvaluateSubspaceModel(const Vector2d& x) const { // In the failure case, another step should be taken, such as the traditional // dogleg step. bool DoglegStrategy::FindMinimumOnTrustRegionBoundary(Vector2d* minimum) const { - CHECK_NOTNULL(minimum); + CHECK(minimum != nullptr); // Return (0, 0) in all error cases. minimum->setZero(); |