NumericDiffCostFunction supports dynamic number of residuals.
1. Update AutoDiffCostFunction template parameters to be consistent
with NumericDiffCostFunction.
2. Update the documentation for NumericDiffCostFunction and
AutoDiffCostFunction.
Change-Id: I113038abb5bedebb0f6f326f2a4ac31480d785fc
diff --git a/include/ceres/autodiff_cost_function.h b/include/ceres/autodiff_cost_function.h
index 371a11f..cb6801f 100644
--- a/include/ceres/autodiff_cost_function.h
+++ b/include/ceres/autodiff_cost_function.h
@@ -96,7 +96,7 @@
// "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
+// AutoDiffCostFunction also supports cost functions with a
// runtime-determined number of residuals. For example:
//
// CostFunction* cost_function
@@ -110,8 +110,9 @@
// 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.
+// The framework can currently accommodate cost functions of up to 10
+// independent variables, and there is no limit on the dimensionality
+// of each of them.
//
// WARNING #1: Since the functor will get instantiated with different types for
// T, you must to convert from other numeric types to T before mixing
@@ -145,13 +146,13 @@
//
// The constructors take ownership of the cost functor.
//
-// If the number of residuals (argument "M" below) is ceres::DYNAMIC, then the
-// two-argument constructor must be used. The second constructor takes a number
-// of residuals (in addition to the templated number of residuals). This allows
-// for varying the number of residuals for a single autodiff cost function at
-// runtime.
+// If the number of residuals (argument kNumResiduals below) is
+// ceres::DYNAMIC, then the two-argument constructor must be used. The
+// second constructor takes a number of residuals (in addition to the
+// templated number of residuals). This allows for varying the number
+// of residuals for a single autodiff cost function at runtime.
template <typename CostFunctor,
- int M, // Number of residuals, or ceres::DYNAMIC.
+ int kNumResiduals, // Number of residuals, or ceres::DYNAMIC.
int N0, // Number of parameters in block 0.
int N1 = 0, // Number of parameters in block 1.
int N2 = 0, // Number of parameters in block 2.
@@ -162,28 +163,30 @@
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 AutoDiffCostFunction : public SizedCostFunction<M,
+class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals,
N0, N1, N2, N3, N4,
N5, N6, N7, N8, N9> {
public:
// Takes ownership of functor. Uses the template-provided value for the
- // number of residuals ("M").
+ // number of residuals ("kNumResiduals").
explicit AutoDiffCostFunction(CostFunctor* functor)
: functor_(functor) {
- CHECK_NE(M, DYNAMIC) << "Can't run the fixed-size constructor if the "
- << "number of residuals is set to ceres::DYNAMIC.";
+ CHECK_NE(kNumResiduals, DYNAMIC)
+ << "Can't run the fixed-size constructor if the "
+ << "number of residuals is set to ceres::DYNAMIC.";
}
- // Takes ownership of functor. Ignores the template-provided number of
- // residuals ("M") in favor of the "num_residuals" argument provided.
+ // Takes ownership of functor. Ignores the template-provided
+ // kNumResiduals in favor of the "num_residuals" argument provided.
//
// This allows for having autodiff cost functions which return varying
// numbers of residuals at runtime.
AutoDiffCostFunction(CostFunctor* functor, int num_residuals)
: functor_(functor) {
- CHECK_EQ(M, DYNAMIC) << "Can't run the dynamic-size constructor if the "
- << "number of residuals is not ceres::DYNAMIC.";
- SizedCostFunction<M, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
+ 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>
::set_num_residuals(num_residuals);
}
@@ -206,7 +209,7 @@
N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(
*functor_,
parameters,
- SizedCostFunction<M, 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);
