Variadic cost function to functor
This CL simplifies the implementation of cost function to functor using
variadic templates. The cost functor can now be called with an
arbitrary number of parameter pointers.
Change-Id: I0d9df2e9055a4842f40c232d4474508f010089a4
diff --git a/include/ceres/cost_function_to_functor.h b/include/ceres/cost_function_to_functor.h
index 6ab5bae..678c80c 100644
--- a/include/ceres/cost_function_to_functor.h
+++ b/include/ceres/cost_function_to_functor.h
@@ -30,7 +30,7 @@
//
// CostFunctionToFunctor is an adapter class that allows users to use
// SizedCostFunction objects in templated functors which are to be used for
-// automatic differentiation. This allows the user to seamlessly mix
+// automatic differentiation. This allows the user to seamlessly mix
// analytic, numeric and automatic differentiation.
//
// For example, let us assume that
@@ -86,21 +86,22 @@
#ifndef CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_
#define CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_
-#include <numeric>
#include <cstdint>
+#include <numeric>
+#include <tuple>
#include <vector>
#include "ceres/cost_function.h"
#include "ceres/dynamic_cost_function_to_functor.h"
#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/integer_sequence.h"
+#include "ceres/internal/parameter_dims.h"
#include "ceres/internal/port.h"
#include "ceres/types.h"
namespace ceres {
-template <int kNumResiduals,
- int N0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
- int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
+template <int kNumResiduals, int... Ns>
class CostFunctionToFunctor {
public:
// Takes ownership of cost_function.
@@ -109,572 +110,59 @@
CHECK(cost_function != nullptr);
CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC);
- // This block breaks the 80 column rule to keep it somewhat readable.
- CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
- ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
- ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
- ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
- ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
- ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) || // NOLINT
- ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) || // NOLINT
- ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) || // NOLINT
- ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) || // NOLINT
- ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0))) // NOLINT
- << "Zero block cannot precede a non-zero block. Block sizes are "
- << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
- << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
- << N8 << ", " << N9;
-
const std::vector<int32_t>& parameter_block_sizes =
cost_function->parameter_block_sizes();
- const int num_parameter_blocks =
- (N0 > 0) + (N1 > 0) + (N2 > 0) + (N3 > 0) + (N4 > 0) +
- (N5 > 0) + (N6 > 0) + (N7 > 0) + (N8 > 0) + (N9 > 0);
+ const int num_parameter_blocks = ParameterDims::kNumParameterBlocks;
CHECK_EQ(static_cast<int>(parameter_block_sizes.size()),
num_parameter_blocks);
- CHECK_EQ(N0, parameter_block_sizes[0]);
- if (parameter_block_sizes.size() > 1) CHECK_EQ(N1, parameter_block_sizes[1]); // NOLINT
- if (parameter_block_sizes.size() > 2) CHECK_EQ(N2, parameter_block_sizes[2]); // NOLINT
- if (parameter_block_sizes.size() > 3) CHECK_EQ(N3, parameter_block_sizes[3]); // NOLINT
- if (parameter_block_sizes.size() > 4) CHECK_EQ(N4, parameter_block_sizes[4]); // NOLINT
- if (parameter_block_sizes.size() > 5) CHECK_EQ(N5, parameter_block_sizes[5]); // NOLINT
- if (parameter_block_sizes.size() > 6) CHECK_EQ(N6, parameter_block_sizes[6]); // NOLINT
- if (parameter_block_sizes.size() > 7) CHECK_EQ(N7, parameter_block_sizes[7]); // NOLINT
- if (parameter_block_sizes.size() > 8) CHECK_EQ(N8, parameter_block_sizes[8]); // NOLINT
- if (parameter_block_sizes.size() > 9) CHECK_EQ(N9, parameter_block_sizes[9]); // NOLINT
+ if (parameter_block_sizes.size() == num_parameter_blocks) {
+ for (int block = 0; block < num_parameter_blocks; ++block) {
+ CHECK_EQ(ParameterDims::GetDim(block), parameter_block_sizes[block])
+ << "Parameter block size missmatch. The specified static parameter "
+ "block dimension does not match the one from the cost function.";
+ }
+ }
CHECK_EQ(accumulate(parameter_block_sizes.begin(),
parameter_block_sizes.end(), 0),
- N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9);
+ ParameterDims::kNumParameters);
}
- bool operator()(const double* x0, double* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_EQ(N1, 0);
- CHECK_EQ(N2, 0);
- CHECK_EQ(N3, 0);
- CHECK_EQ(N4, 0);
- CHECK_EQ(N5, 0);
- CHECK_EQ(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
+ template <typename T, typename... Ts>
+ bool operator()(const T* p1, Ts*... ps) const {
+ // Add one because of residual block.
+ static_assert(sizeof...(Ts) + 1 == ParameterDims::kNumParameterBlocks + 1,
+ "Invalid number of parameter blocks specified.");
- return cost_functor_(&x0, residuals);
- }
+ auto params = std::make_tuple(p1, ps...);
- bool operator()(const double* x0,
- const double* x1,
- double* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_EQ(N2, 0);
- CHECK_EQ(N3, 0);
- CHECK_EQ(N4, 0);
- CHECK_EQ(N5, 0);
- CHECK_EQ(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const double*> parameter_blocks(2);
- parameter_blocks[0] = x0;
- parameter_blocks[1] = x1;
- return cost_functor_(parameter_blocks.get(), residuals);
- }
+ // Extract residual pointer from params. The residual pointer is the
+ // last pointer.
+ constexpr int kResidualIndex = ParameterDims::kNumParameterBlocks;
+ T* residuals = std::get<kResidualIndex>(params);
- bool operator()(const double* x0,
- const double* x1,
- const double* x2,
- double* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_EQ(N3, 0);
- CHECK_EQ(N4, 0);
- CHECK_EQ(N5, 0);
- CHECK_EQ(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const double*> parameter_blocks(3);
- parameter_blocks[0] = x0;
- parameter_blocks[1] = x1;
- parameter_blocks[2] = x2;
- return cost_functor_(parameter_blocks.get(), residuals);
- }
+ // Extract parameter block pointers from params.
+ using Indices =
+ internal::make_integer_sequence<int,
+ ParameterDims::kNumParameterBlocks>;
+ std::array<const T*, ParameterDims::kNumParameterBlocks> parameter_blocks =
+ GetParameterPointers<T>(params, Indices());
- bool operator()(const double* x0,
- const double* x1,
- const double* x2,
- const double* x3,
- double* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_EQ(N4, 0);
- CHECK_EQ(N5, 0);
- CHECK_EQ(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const double*> parameter_blocks(4);
- parameter_blocks[0] = x0;
- parameter_blocks[1] = x1;
- parameter_blocks[2] = x2;
- parameter_blocks[3] = x3;
- return cost_functor_(parameter_blocks.get(), residuals);
- }
-
- bool operator()(const double* x0,
- const double* x1,
- const double* x2,
- const double* x3,
- const double* x4,
- double* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_NE(N4, 0);
- CHECK_EQ(N5, 0);
- CHECK_EQ(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const double*> parameter_blocks(5);
- parameter_blocks[0] = x0;
- parameter_blocks[1] = x1;
- parameter_blocks[2] = x2;
- parameter_blocks[3] = x3;
- parameter_blocks[4] = x4;
- return cost_functor_(parameter_blocks.get(), residuals);
- }
-
- bool operator()(const double* x0,
- const double* x1,
- const double* x2,
- const double* x3,
- const double* x4,
- const double* x5,
- double* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_NE(N4, 0);
- CHECK_NE(N5, 0);
- CHECK_EQ(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const double*> parameter_blocks(6);
- parameter_blocks[0] = x0;
- parameter_blocks[1] = x1;
- parameter_blocks[2] = x2;
- parameter_blocks[3] = x3;
- parameter_blocks[4] = x4;
- parameter_blocks[5] = x5;
- return cost_functor_(parameter_blocks.get(), residuals);
- }
-
- bool operator()(const double* x0,
- const double* x1,
- const double* x2,
- const double* x3,
- const double* x4,
- const double* x5,
- const double* x6,
- double* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_NE(N4, 0);
- CHECK_NE(N5, 0);
- CHECK_NE(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const double*> parameter_blocks(7);
- parameter_blocks[0] = x0;
- parameter_blocks[1] = x1;
- parameter_blocks[2] = x2;
- parameter_blocks[3] = x3;
- parameter_blocks[4] = x4;
- parameter_blocks[5] = x5;
- parameter_blocks[6] = x6;
- return cost_functor_(parameter_blocks.get(), residuals);
- }
-
- bool operator()(const double* x0,
- const double* x1,
- const double* x2,
- const double* x3,
- const double* x4,
- const double* x5,
- const double* x6,
- const double* x7,
- double* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_NE(N4, 0);
- CHECK_NE(N5, 0);
- CHECK_NE(N6, 0);
- CHECK_NE(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const double*> parameter_blocks(8);
- parameter_blocks[0] = x0;
- parameter_blocks[1] = x1;
- parameter_blocks[2] = x2;
- parameter_blocks[3] = x3;
- parameter_blocks[4] = x4;
- parameter_blocks[5] = x5;
- parameter_blocks[6] = x6;
- parameter_blocks[7] = x7;
- return cost_functor_(parameter_blocks.get(), residuals);
- }
-
- bool operator()(const double* x0,
- const double* x1,
- const double* x2,
- const double* x3,
- const double* x4,
- const double* x5,
- const double* x6,
- const double* x7,
- const double* x8,
- double* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_NE(N4, 0);
- CHECK_NE(N5, 0);
- CHECK_NE(N6, 0);
- CHECK_NE(N7, 0);
- CHECK_NE(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const double*> parameter_blocks(9);
- parameter_blocks[0] = x0;
- parameter_blocks[1] = x1;
- parameter_blocks[2] = x2;
- parameter_blocks[3] = x3;
- parameter_blocks[4] = x4;
- parameter_blocks[5] = x5;
- parameter_blocks[6] = x6;
- parameter_blocks[7] = x7;
- parameter_blocks[8] = x8;
- return cost_functor_(parameter_blocks.get(), residuals);
- }
-
- bool operator()(const double* x0,
- const double* x1,
- const double* x2,
- const double* x3,
- const double* x4,
- const double* x5,
- const double* x6,
- const double* x7,
- const double* x8,
- const double* x9,
- double* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_NE(N4, 0);
- CHECK_NE(N5, 0);
- CHECK_NE(N6, 0);
- CHECK_NE(N7, 0);
- CHECK_NE(N8, 0);
- CHECK_NE(N9, 0);
- internal::FixedArray<const double*> parameter_blocks(10);
- parameter_blocks[0] = x0;
- parameter_blocks[1] = x1;
- parameter_blocks[2] = x2;
- parameter_blocks[3] = x3;
- parameter_blocks[4] = x4;
- parameter_blocks[5] = x5;
- parameter_blocks[6] = x6;
- parameter_blocks[7] = x7;
- parameter_blocks[8] = x8;
- parameter_blocks[9] = x9;
- return cost_functor_(parameter_blocks.get(), residuals);
- }
-
- template <typename JetT>
- bool operator()(const JetT* x0, JetT* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_EQ(N1, 0);
- CHECK_EQ(N2, 0);
- CHECK_EQ(N3, 0);
- CHECK_EQ(N4, 0);
- CHECK_EQ(N5, 0);
- CHECK_EQ(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- return cost_functor_(&x0, residuals);
- }
-
- template <typename JetT>
- bool operator()(const JetT* x0,
- const JetT* x1,
- JetT* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_EQ(N2, 0);
- CHECK_EQ(N3, 0);
- CHECK_EQ(N4, 0);
- CHECK_EQ(N5, 0);
- CHECK_EQ(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const JetT*> jets(2);
- jets[0] = x0;
- jets[1] = x1;
- return cost_functor_(jets.get(), residuals);
- }
-
- template <typename JetT>
- bool operator()(const JetT* x0,
- const JetT* x1,
- const JetT* x2,
- JetT* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_EQ(N3, 0);
- CHECK_EQ(N4, 0);
- CHECK_EQ(N5, 0);
- CHECK_EQ(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const JetT*> jets(3);
- jets[0] = x0;
- jets[1] = x1;
- jets[2] = x2;
- return cost_functor_(jets.get(), residuals);
- }
-
- template <typename JetT>
- bool operator()(const JetT* x0,
- const JetT* x1,
- const JetT* x2,
- const JetT* x3,
- JetT* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_EQ(N4, 0);
- CHECK_EQ(N5, 0);
- CHECK_EQ(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const JetT*> jets(4);
- jets[0] = x0;
- jets[1] = x1;
- jets[2] = x2;
- jets[3] = x3;
- return cost_functor_(jets.get(), residuals);
- }
-
- template <typename JetT>
- bool operator()(const JetT* x0,
- const JetT* x1,
- const JetT* x2,
- const JetT* x3,
- const JetT* x4,
- JetT* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_NE(N4, 0);
- CHECK_EQ(N5, 0);
- CHECK_EQ(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const JetT*> jets(5);
- jets[0] = x0;
- jets[1] = x1;
- jets[2] = x2;
- jets[3] = x3;
- jets[4] = x4;
- return cost_functor_(jets.get(), residuals);
- }
-
- template <typename JetT>
- bool operator()(const JetT* x0,
- const JetT* x1,
- const JetT* x2,
- const JetT* x3,
- const JetT* x4,
- const JetT* x5,
- JetT* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_NE(N4, 0);
- CHECK_NE(N5, 0);
- CHECK_EQ(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const JetT*> jets(6);
- jets[0] = x0;
- jets[1] = x1;
- jets[2] = x2;
- jets[3] = x3;
- jets[4] = x4;
- jets[5] = x5;
- return cost_functor_(jets.get(), residuals);
- }
-
- template <typename JetT>
- bool operator()(const JetT* x0,
- const JetT* x1,
- const JetT* x2,
- const JetT* x3,
- const JetT* x4,
- const JetT* x5,
- const JetT* x6,
- JetT* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_NE(N4, 0);
- CHECK_NE(N5, 0);
- CHECK_NE(N6, 0);
- CHECK_EQ(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const JetT*> jets(7);
- jets[0] = x0;
- jets[1] = x1;
- jets[2] = x2;
- jets[3] = x3;
- jets[4] = x4;
- jets[5] = x5;
- jets[6] = x6;
- return cost_functor_(jets.get(), residuals);
- }
-
- template <typename JetT>
- bool operator()(const JetT* x0,
- const JetT* x1,
- const JetT* x2,
- const JetT* x3,
- const JetT* x4,
- const JetT* x5,
- const JetT* x6,
- const JetT* x7,
- JetT* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_NE(N4, 0);
- CHECK_NE(N5, 0);
- CHECK_NE(N6, 0);
- CHECK_NE(N7, 0);
- CHECK_EQ(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const JetT*> jets(8);
- jets[0] = x0;
- jets[1] = x1;
- jets[2] = x2;
- jets[3] = x3;
- jets[4] = x4;
- jets[5] = x5;
- jets[6] = x6;
- jets[7] = x7;
- return cost_functor_(jets.get(), residuals);
- }
-
- template <typename JetT>
- bool operator()(const JetT* x0,
- const JetT* x1,
- const JetT* x2,
- const JetT* x3,
- const JetT* x4,
- const JetT* x5,
- const JetT* x6,
- const JetT* x7,
- const JetT* x8,
- JetT* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_NE(N4, 0);
- CHECK_NE(N5, 0);
- CHECK_NE(N6, 0);
- CHECK_NE(N7, 0);
- CHECK_NE(N8, 0);
- CHECK_EQ(N9, 0);
- internal::FixedArray<const JetT*> jets(9);
- jets[0] = x0;
- jets[1] = x1;
- jets[2] = x2;
- jets[3] = x3;
- jets[4] = x4;
- jets[5] = x5;
- jets[6] = x6;
- jets[7] = x7;
- jets[8] = x8;
- return cost_functor_(jets.get(), residuals);
- }
-
- template <typename JetT>
- bool operator()(const JetT* x0,
- const JetT* x1,
- const JetT* x2,
- const JetT* x3,
- const JetT* x4,
- const JetT* x5,
- const JetT* x6,
- const JetT* x7,
- const JetT* x8,
- const JetT* x9,
- JetT* residuals) const {
- CHECK_NE(N0, 0);
- CHECK_NE(N1, 0);
- CHECK_NE(N2, 0);
- CHECK_NE(N3, 0);
- CHECK_NE(N4, 0);
- CHECK_NE(N5, 0);
- CHECK_NE(N6, 0);
- CHECK_NE(N7, 0);
- CHECK_NE(N8, 0);
- CHECK_NE(N9, 0);
- internal::FixedArray<const JetT*> jets(10);
- jets[0] = x0;
- jets[1] = x1;
- jets[2] = x2;
- jets[3] = x3;
- jets[4] = x4;
- jets[5] = x5;
- jets[6] = x6;
- jets[7] = x7;
- jets[8] = x8;
- jets[9] = x9;
- return cost_functor_(jets.get(), residuals);
+ return cost_functor_(parameter_blocks.data(), residuals);
}
private:
+ using ParameterDims = internal::StaticParameterDims<Ns...>;
+
+ template <typename T, typename Tuple, int... Indices>
+ static std::array<const T*, ParameterDims::kNumParameterBlocks>
+ GetParameterPointers(const Tuple& paramPointers,
+ internal::integer_sequence<int, Indices...>) {
+ return std::array<const T*, ParameterDims::kNumParameterBlocks>{
+ {std::get<Indices>(paramPointers)...}};
+ }
+
DynamicCostFunctionToFunctor cost_functor_;
};
