diff options
Diffstat (limited to 'extern/ceres/internal/ceres/trust_region_minimizer.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/trust_region_minimizer.cc | 20 |
1 files changed, 8 insertions, 12 deletions
diff --git a/extern/ceres/internal/ceres/trust_region_minimizer.cc b/extern/ceres/internal/ceres/trust_region_minimizer.cc index bcf05b3ddfb..9ef5167ba6c 100644 --- a/extern/ceres/internal/ceres/trust_region_minimizer.cc +++ b/extern/ceres/internal/ceres/trust_region_minimizer.cc @@ -62,8 +62,6 @@ namespace ceres { namespace internal { -TrustRegionMinimizer::~TrustRegionMinimizer() {} - void TrustRegionMinimizer::Minimize(const Minimizer::Options& options, double* parameters, Solver::Summary* solver_summary) { @@ -75,11 +73,11 @@ void TrustRegionMinimizer::Minimize(const Minimizer::Options& options, // Create the TrustRegionStepEvaluator. The construction needs to be // delayed to this point because we need the cost for the starting // point to initialize the step evaluator. - step_evaluator_.reset(new TrustRegionStepEvaluator( + step_evaluator_ = std::make_unique<TrustRegionStepEvaluator>( x_cost_, options_.use_nonmonotonic_steps ? options_.max_consecutive_nonmonotonic_steps - : 0)); + : 0); while (FinalizeIterationAndCheckIfMinimizerCanContinue()) { iteration_start_time_in_secs_ = WallTimeInSeconds(); @@ -750,14 +748,12 @@ bool TrustRegionMinimizer::FunctionToleranceReached() { // Compute candidate_x_ = Plus(x_, delta_) // Evaluate the cost of candidate_x_ as candidate_cost_. // -// Failure to compute the step or the cost mean that candidate_cost_ -// is set to std::numeric_limits<double>::max(). Unlike -// EvaluateGradientAndJacobian, failure in this function is not fatal -// as we are only computing and evaluating a candidate point, and if -// for some reason we are unable to evaluate it, we consider it to be -// a point with very high cost. This allows the user to deal with edge -// cases/constraints as part of the LocalParameterization and -// CostFunction objects. +// Failure to compute the step or the cost mean that candidate_cost_ is set to +// std::numeric_limits<double>::max(). Unlike EvaluateGradientAndJacobian, +// failure in this function is not fatal as we are only computing and evaluating +// a candidate point, and if for some reason we are unable to evaluate it, we +// consider it to be a point with very high cost. This allows the user to deal +// with edge cases/constraints as part of the Manifold and CostFunction objects. void TrustRegionMinimizer::ComputeCandidatePointAndEvaluateCost() { if (!evaluator_->Plus(x_.data(), delta_.data(), candidate_x_.data())) { if (is_not_silent_) { |