Lint cleanup and a bug fix.
Thanks to William Rucklidge.
Change-Id: I963656be661020abacbff792cfc3025623503db8
diff --git a/docs/source/modeling.rst b/docs/source/modeling.rst
index a5e875d..99c1e7c 100644
--- a/docs/source/modeling.rst
+++ b/docs/source/modeling.rst
@@ -371,8 +371,8 @@
int N7 = 0, // Number of parameters in block 7.
int N8 = 0, // Number of parameters in block 8.
int N9 = 0> // Number of parameters in block 9.
- class NumericDiffCostFunction
- : public SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> {
+ class NumericDiffCostFunction : public
+ SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> {
};
To get a numerically differentiated :class:`CostFunction`, you must
@@ -458,15 +458,15 @@
CostFunction* cost_function
= new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, DYNAMIC, 2, 2>(
- new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
- TAKE_OWNERSHIP, | | |
- runtime_number_of_residuals); <----+ | | |
- | | | |
- | | | |
- Actual number of residuals ------+ | | |
- Indicate dynamic number of residuals --------+ | |
- Dimension of x ------------------------------------+ |
- Dimension of y ---------------------------------------+
+ new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
+ TAKE_OWNERSHIP, | | |
+ runtime_number_of_residuals); <----+ | | |
+ | | | |
+ | | | |
+ Actual number of residuals ------+ | | |
+ Indicate dynamic number of residuals --------------------+ | |
+ Dimension of x ------------------------------------------------+ |
+ Dimension of y ---------------------------------------------------+
The framework can currently accommodate cost functions of up to 10
diff --git a/include/ceres/autodiff_cost_function.h b/include/ceres/autodiff_cost_function.h
index cb6801f..79f90c5 100644
--- a/include/ceres/autodiff_cost_function.h
+++ b/include/ceres/autodiff_cost_function.h
@@ -186,7 +186,9 @@
CHECK_EQ(kNumResiduals, DYNAMIC)
<< "Can't run the dynamic-size constructor if the "
<< "number of residuals is not ceres::DYNAMIC.";
- SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
+ SizedCostFunction<kNumResiduals,
+ N0, N1, N2, N3, N4,
+ N5, N6, N7, N8, N9>
::set_num_residuals(num_residuals);
}
@@ -209,7 +211,9 @@
N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(
*functor_,
parameters,
- SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
+ SizedCostFunction<kNumResiduals,
+ N0, N1, N2, N3, N4,
+ N5, N6, N7, N8, N9>
::num_residuals(),
residuals,
jacobians);
diff --git a/include/ceres/dynamic_numeric_diff_cost_function.h b/include/ceres/dynamic_numeric_diff_cost_function.h
index c30e0f1..9f70000 100644
--- a/include/ceres/dynamic_numeric_diff_cost_function.h
+++ b/include/ceres/dynamic_numeric_diff_cost_function.h
@@ -108,8 +108,8 @@
<< "You must call DynamicNumericDiffCostFunction::AddParameterBlock() "
<< "before DynamicNumericDiffCostFunction::Evaluate().";
- bool status = (*functor_)(parameters, residuals);
- if (jacobians == NULL) {
+ const bool status = (*functor_)(parameters, residuals);
+ if (jacobians == NULL || !status) {
return status;
}
diff --git a/include/ceres/numeric_diff_cost_function.h b/include/ceres/numeric_diff_cost_function.h
index 94573e5..de6b74a 100644
--- a/include/ceres/numeric_diff_cost_function.h
+++ b/include/ceres/numeric_diff_cost_function.h
@@ -100,15 +100,15 @@
//
// CostFunction* cost_function
// = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, DYNAMIC, 2, 2>(
-// new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
-// TAKE_OWNERSHIP, | | |
-// runtime_number_of_residuals); <----+ | | |
-// | | | |
-// | | | |
-// Actual number of residuals ------+ | | |
-// Indicate dynamic number of residuals --------+ | |
-// Dimension of x ------------------------------------+ |
-// Dimension of y ---------------------------------------+
+// new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
+// TAKE_OWNERSHIP, | | |
+// runtime_number_of_residuals); <----+ | | |
+// | | | |
+// | | | |
+// Actual number of residuals ------+ | | |
+// Indicate dynamic number of residuals --------------------+ | |
+// Dimension of x ------------------------------------------------+ |
+// Dimension of y ---------------------------------------------------+
//
// The framework can currently accommodate cost functions of up to 10
// independent variables, and there is no limit on the dimensionality
@@ -197,7 +197,9 @@
ownership_(ownership),
relative_step_size_(relative_step_size) {
if (kNumResiduals == DYNAMIC) {
- SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
+ SizedCostFunction<kNumResiduals,
+ N0, N1, N2, N3, N4,
+ N5, N6, N7, N8, N9>
::set_num_residuals(num_residuals);
}
}
@@ -277,7 +279,9 @@
functor_.get(), \
residuals, \
relative_step_size_, \
- SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::num_residuals(), \
+ SizedCostFunction<kNumResiduals, \
+ N0, N1, N2, N3, N4, \
+ N5, N6, N7, N8, N9>::num_residuals(), \
parameters_reference_copy.get(), \
jacobians[block])) { \
return false; \
