Add DynamicNumericDiffCostFunction.
This brings the ability to have numerically differentiated
cost functions to be added with its structure decided on
runtime rather than compile time.
And some minor cleanups.
Two things still need to be done.
a. Update the modeling docs.
b. Remove RuntimeNumericDiffCostFunction in ceres::internal
and replace its usage with DynamicNumericDiffCostFunction.
Change-Id: Ib771f093f29236c95a99df31c584d579b8e36615
diff --git a/include/ceres/dynamic_autodiff_cost_function.h b/include/ceres/dynamic_autodiff_cost_function.h
index 5d8f188..f9342cd 100644
--- a/include/ceres/dynamic_autodiff_cost_function.h
+++ b/include/ceres/dynamic_autodiff_cost_function.h
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2012 Google Inc. All rights reserved.
+// Copyright 2013 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
@@ -26,18 +26,17 @@
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
-// Author: mierle@gmail.com (Keir Mierle)
-// sameeragarwal@google.com (Sameer Agarwal)
-// thadh@gmail.com (Thad Hughes)
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+// mierle@gmail.com (Keir Mierle)
//
// This autodiff implementation differs from the one found in
-// autodiff_cost_function.h by supporting autodiff on cost functions with
-// variable numbers of parameters with variable sizes. With the other
-// implementation, all the sizes (both the number of parameter blocks and the
-// size of each block) must be fixed at compile time.
+// autodiff_cost_function.h by supporting autodiff on cost functions
+// with variable numbers of parameters with variable sizes. With the
+// other implementation, all the sizes (both the number of parameter
+// blocks and the size of each block) must be fixed at compile time.
//
-// The functor API differs slightly from the API for fixed size autodiff; the
-// expected interface for the cost functors is:
+// The functor API differs slightly from the API for fixed size
+// autodiff; the expected interface for the cost functors is:
//
// struct MyCostFunctor {
// template<typename T>
@@ -46,8 +45,9 @@
// }
// }
//
-// Since the sizing of the parameters is done at runtime, you must also specify
-// the sizes after creating the dynamic autodiff cost function. For example:
+// Since the sizing of the parameters is done at runtime, you must
+// also specify the sizes after creating the dynamic autodiff cost
+// function. For example:
//
// DynamicAutoDiffCostFunction<MyCostFunctor, 3> cost_function(
// new MyCostFunctor());
@@ -55,10 +55,11 @@
// cost_function.AddParameterBlock(10);
// cost_function.SetNumResiduals(21);
//
-// Under the hood, the implementation evaluates the cost function multiple
-// times, computing a small set of the derivatives (four by default, controlled
-// by the Stride template parameter) with each pass. There is a tradeoff with
-// the size of the passes; you may want to experiment with the stride.
+// Under the hood, the implementation evaluates the cost function
+// multiple times, computing a small set of the derivatives (four by
+// default, controlled by the Stride template parameter) with each
+// pass. There is a tradeoff with the size of the passes; you may want
+// to experiment with the stride.
#ifndef CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
#define CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
