Change NumericDiffCostFunction to accept variadic functors.
The interface for NumericDiffCostFunction and AutoDiffCostFunction
are not comparable. They both accept variadic functors.
The change is backward compatible, as it still supports numeric
differentiation of CostFunction objects.
Some refactoring of documentation and code in auto_diff_cost_function
and its relatives was also done to make things consistent.
Change-Id: Ib5f230a1d4a85738eb187803b9c1cd7166bb3b92
diff --git a/include/ceres/autodiff_cost_function.h b/include/ceres/autodiff_cost_function.h
index bb08d64..2f86f56 100644
--- a/include/ceres/autodiff_cost_function.h
+++ b/include/ceres/autodiff_cost_function.h
@@ -28,10 +28,10 @@
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
//
-// Helpers for making CostFunctions as needed by the least squares framework,
-// with Jacobians computed via automatic differentiation. For more information
-// on automatic differentation, see the wikipedia article at
-// http://en.wikipedia.org/wiki/Automatic_differentiation
+// Create CostFunctions as needed by the least squares framework, with
+// Jacobians computed via automatic differentiation. For more
+// information on automatic differentation, see the wikipedia article
+// at http://en.wikipedia.org/wiki/Automatic_differentiation
//
// To get an auto differentiated cost function, you must define a class with a
// templated operator() (a functor) that computes the cost function in terms of
@@ -57,8 +57,8 @@
// To write an auto-differentiable cost function for the above model, first
// define the object
//
-// class MyScalarCostFunction {
-// MyScalarCostFunction(double k): k_(k) {}
+// class MyScalarCostFunctor {
+// MyScalarCostFunctor(double k): k_(k) {}
//
// template <typename T>
// bool operator()(const T* const x , const T* const y, T* e) const {
@@ -80,32 +80,32 @@
// it can be constructed as follows.
//
// CostFunction* cost_function
-// = new AutoDiffCostFunction<MyScalarCostFunction, 1, 2, 2>(
-// new MyScalarCostFunction(1.0)); ^ ^ ^
-// | | |
-// Dimension of residual ------+ | |
-// Dimension of x ----------------+ |
-// Dimension of y -------------------+
+// = new AutoDiffCostFunction<MyScalarCostFunctor, 1, 2, 2>(
+// new MyScalarCostFunctor(1.0)); ^ ^ ^
+// | | |
+// Dimension of residual -----+ | |
+// Dimension of x ---------------+ |
+// Dimension of y ------------------+
//
// In this example, there is usually an instance for each measumerent of k.
//
// In the instantiation above, the template parameters following
-// "MyScalarCostFunction", "1, 2, 2", describe the functor as computing a
+// "MyScalarCostFunctor", "1, 2, 2", describe the functor as computing a
// 1-dimensional output from two arguments, both 2-dimensional.
//
// The autodiff cost function also supports cost functions with a
// runtime-determined number of residuals. For example:
//
// CostFunction* cost_function
-// = new AutoDiffCostFunction<MyScalarCostFunction, DYNAMIC, 2, 2>(
-// new CostFunctionWithDynamicNumResiduals(1.0), ^ ^ ^
-// runtime_number_of_residuals); <----+ | | |
-// | | | |
-// | | | |
-// Actual number of residuals ------+ | | |
-// Indicate dynamic number of residuals ---------+ | |
-// Dimension of x -------------------------------------+ |
-// Dimension of y ----------------------------------------+
+// = new AutoDiffCostFunction<MyScalarCostFunctor, DYNAMIC, 2, 2>(
+// new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
+// 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 6 independent
// variables, and there is no limit on the dimensionality of each of them.
@@ -119,7 +119,7 @@
// functions is to get the sizing wrong. In particular, there is a tendency to
// set the template parameters to (dimension of residual, number of parameters)
// instead of passing a dimension parameter for *every parameter*. In the
-// example above, that would be <MyScalarCostFunction, 1, 2>, which is missing
+// example above, that would be <MyScalarCostFunctor, 1, 2>, which is missing
// the last '2' argument. Please be careful when setting the size parameters.
#ifndef CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_
