Add compound with scalar operators for Jets.
Change-Id: Ie47771d8c9df22ddeb6b643ae8a751860d892d67
diff --git a/include/ceres/jet.h b/include/ceres/jet.h
index 27c39d3..934bc18 100644
--- a/include/ceres/jet.h
+++ b/include/ceres/jet.h
@@ -224,6 +224,27 @@
return *this;
}
+ // Compound with scalar operators.
+ Jet<T, N>& operator+=(const T& s) {
+ *this = *this + s;
+ return *this;
+ }
+
+ Jet<T, N>& operator-=(const T& s) {
+ *this = *this - s;
+ return *this;
+ }
+
+ Jet<T, N>& operator*=(const T& s) {
+ *this = *this * s;
+ return *this;
+ }
+
+ Jet<T, N>& operator/=(const T& s) {
+ *this = *this / s;
+ return *this;
+ }
+
// The scalar part.
T a;
diff --git a/internal/ceres/jet_test.cc b/internal/ceres/jet_test.cc
index 8576eb1..16d37c6 100644
--- a/internal/ceres/jet_test.cc
+++ b/internal/ceres/jet_test.cc
@@ -391,22 +391,34 @@
{ // Check that 1 + x == x + 1.
J a = x + 1.0;
J b = 1.0 + x;
+ J c = x;
+ c += 1.0;
ExpectJetsClose(a, b);
+ ExpectJetsClose(a, c);
}
{ // Check that 1 - x == -(x - 1).
J a = 1.0 - x;
J b = -(x - 1.0);
+ J c = x;
+ c -= 1.0;
ExpectJetsClose(a, b);
+ ExpectJetsClose(a, -c);
}
- { // Check that x/s == x*s.
+ { // Check that (x/s)*s == (x*s)/s.
J a = x / 5.0;
J b = x * 5.0;
+ J c = x;
+ c /= 5.0;
+ J d = x;
+ d *= 5.0;
ExpectJetsClose(5.0 * a, b / 5.0);
+ ExpectJetsClose(a, c);
+ ExpectJetsClose(b, d);
}
{ // Check that x / y == 1 / (y / x).
