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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2019 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: darius.rueckert@fau.de (Darius Rueckert)
#include "ceres/internal/expression_ref.h"
#include "glog/logging.h"
namespace ceres {
namespace internal {
ExpressionRef ExpressionRef::Create(ExpressionId id) {
ExpressionRef ref;
ref.id = id;
return ref;
}
ExpressionRef::ExpressionRef(double compile_time_constant) {
id = Expression::CreateCompileTimeConstant(compile_time_constant);
}
ExpressionRef::ExpressionRef(const ExpressionRef& other) { *this = other; }
ExpressionRef& ExpressionRef::operator=(const ExpressionRef& other) {
// Assigning an uninitialized variable to another variable is an error.
CHECK(other.IsInitialized()) << "Uninitialized Assignment.";
if (IsInitialized()) {
// Create assignment from other -> this
Expression::CreateAssignment(id, other.id);
} else {
// Special case: "this" expressionref is invalid
// -> Skip assignment
// -> Let "this" point to the same variable as other
id = other.id;
}
return *this;
}
// Compound operators
ExpressionRef& ExpressionRef::operator+=(ExpressionRef y) {
*this = *this + y;
return *this;
}
ExpressionRef& ExpressionRef::operator-=(ExpressionRef y) {
*this = *this - y;
return *this;
}
ExpressionRef& ExpressionRef::operator*=(ExpressionRef y) {
*this = *this * y;
return *this;
}
ExpressionRef& ExpressionRef::operator/=(ExpressionRef y) {
*this = *this / y;
return *this;
}
// Arith. Operators
ExpressionRef operator-(ExpressionRef x) {
return ExpressionRef::Create(Expression::CreateUnaryArithmetic("-", x.id));
}
ExpressionRef operator+(ExpressionRef x) {
return ExpressionRef::Create(Expression::CreateUnaryArithmetic("+", x.id));
}
ExpressionRef operator+(ExpressionRef x, ExpressionRef y) {
return ExpressionRef::Create(
Expression::CreateBinaryArithmetic("+", x.id, y.id));
}
ExpressionRef operator-(ExpressionRef x, ExpressionRef y) {
return ExpressionRef::Create(
Expression::CreateBinaryArithmetic("-", x.id, y.id));
}
ExpressionRef operator/(ExpressionRef x, ExpressionRef y) {
return ExpressionRef::Create(
Expression::CreateBinaryArithmetic("/", x.id, y.id));
}
ExpressionRef operator*(ExpressionRef x, ExpressionRef y) {
return ExpressionRef::Create(
Expression::CreateBinaryArithmetic("*", x.id, y.id));
}
// Functions
ExpressionRef MakeFunctionCall(const std::string& name,
const std::vector<ExpressionRef>& params) {
std::vector<ExpressionId> ids;
for (auto p : params) {
ids.push_back(p.id);
}
return ExpressionRef::Create(Expression::CreateFunctionCall(name, ids));
}
ExpressionRef Ternary(ComparisonExpressionRef c,
ExpressionRef a,
ExpressionRef b) {
return MakeFunctionCall("ternary", {c.id, a.id, b.id});
}
#define CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(op) \
ComparisonExpressionRef operator op(ExpressionRef a, ExpressionRef b) { \
return ComparisonExpressionRef(ExpressionRef::Create( \
Expression::CreateBinaryCompare(#op, a.id, b.id))); \
}
#define CERES_DEFINE_EXPRESSION_LOGICAL_OPERATOR(op) \
ComparisonExpressionRef operator op(ComparisonExpressionRef a, \
ComparisonExpressionRef b) { \
return ComparisonExpressionRef(ExpressionRef::Create( \
Expression::CreateBinaryCompare(#op, a.id, b.id))); \
}
CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(<)
CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(<=)
CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(>)
CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(>=)
CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(==)
CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(!=)
CERES_DEFINE_EXPRESSION_LOGICAL_OPERATOR(&&)
CERES_DEFINE_EXPRESSION_LOGICAL_OPERATOR(||)
#undef CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR
#undef CERES_DEFINE_EXPRESSION_LOGICAL_OPERATOR
ComparisonExpressionRef operator!(ComparisonExpressionRef a) {
return ComparisonExpressionRef(
ExpressionRef::Create(Expression::CreateLogicalNegation(a.id)));
}
} // namespace internal
} // namespace ceres