| // 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 "assert.h" |
| #include "ceres/internal/expression.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| ExpressionRef ExpressionRef::Create(ExpressionId id) { |
| ExpressionRef ref; |
| ref.id = id; |
| return ref; |
| } |
| |
| std::string ExpressionRef::ToString() const { return std::to_string(id); } |
| |
| ExpressionRef::ExpressionRef(double compile_time_constant) { |
| (*this) = ExpressionRef::Create( |
| Expression::CreateCompileTimeConstant(compile_time_constant)); |
| } |
| |
| // 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(ExpressionType::UNARY_MINUS, x.id)); |
| } |
| |
| ExpressionRef operator+(ExpressionRef x) { |
| return ExpressionRef::Create( |
| Expression::CreateUnaryArithmetic(ExpressionType::UNARY_PLUS, x.id)); |
| } |
| |
| ExpressionRef operator+(ExpressionRef x, ExpressionRef y) { |
| return ExpressionRef::Create( |
| Expression::CreateBinaryArithmetic(ExpressionType::PLUS, x.id, y.id)); |
| } |
| |
| ExpressionRef operator-(ExpressionRef x, ExpressionRef y) { |
| return ExpressionRef::Create( |
| Expression::CreateBinaryArithmetic(ExpressionType::MINUS, x.id, y.id)); |
| } |
| |
| ExpressionRef operator/(ExpressionRef x, ExpressionRef y) { |
| return ExpressionRef::Create( |
| Expression::CreateBinaryArithmetic(ExpressionType::DIVISION, x.id, y.id)); |
| } |
| |
| ExpressionRef operator*(ExpressionRef x, ExpressionRef y) { |
| return ExpressionRef::Create(Expression::CreateBinaryArithmetic( |
| ExpressionType::MULTIPLICATION, x.id, y.id)); |
| } |
| |
| // Functions |
| ExpressionRef sin(ExpressionRef x) { |
| return ExpressionRef::Create(Expression::CreateFunctionCall("sin", {x.id})); |
| } |
| |
| ExpressionRef Ternary(ComparisonExpressionRef c, |
| ExpressionRef a, |
| ExpressionRef b) { |
| return ExpressionRef::Create(Expression::CreateTernary(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 |