Introduce a common base class for DynamicAutoDiffCostFunction and DynamicNumericDiffCostFunction.
In the process also move some documentation from the file header to
just above the class declaration.
This change is in response to https://github.com/ceres-solver/ceres-solver/issues/233
Change-Id: I08cff1a94c57b67dd2bd8be4dba8c3fce46b68ab
diff --git a/include/ceres/dynamic_autodiff_cost_function.h b/include/ceres/dynamic_autodiff_cost_function.h
index e6d2611..1cece2c 100644
--- a/include/ceres/dynamic_autodiff_cost_function.h
+++ b/include/ceres/dynamic_autodiff_cost_function.h
@@ -28,7 +28,21 @@
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
// mierle@gmail.com (Keir Mierle)
-//
+
+#ifndef CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
+
+#include <cmath>
+#include <numeric>
+#include <vector>
+
+#include "ceres/dynamic_cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/jet.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
// 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
@@ -60,37 +74,14 @@
// 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_
-
-#include <cmath>
-#include <numeric>
-#include <vector>
-
-#include "ceres/cost_function.h"
-#include "ceres/internal/scoped_ptr.h"
-#include "ceres/jet.h"
-#include "glog/logging.h"
-
-namespace ceres {
-
template <typename CostFunctor, int Stride = 4>
-class DynamicAutoDiffCostFunction : public CostFunction {
+class DynamicAutoDiffCostFunction : public DynamicCostFunction {
public:
explicit DynamicAutoDiffCostFunction(CostFunctor* functor)
: functor_(functor) {}
virtual ~DynamicAutoDiffCostFunction() {}
- void AddParameterBlock(int size) {
- mutable_parameter_block_sizes()->push_back(size);
- }
-
- void SetNumResiduals(int num_residuals) {
- set_num_residuals(num_residuals);
- }
-
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
diff --git a/include/ceres/dynamic_cost_function.h b/include/ceres/dynamic_cost_function.h
new file mode 100644
index 0000000..6c0aa31
--- /dev/null
+++ b/include/ceres/dynamic_cost_function.h
@@ -0,0 +1,56 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// 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: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_
+#define CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_
+
+#include "ceres/cost_function.h"
+
+namespace ceres {
+
+// A common base class for DynamicAutoDiffCostFunction and
+// DynamicNumericDiffCostFunction which depend on methods that can add
+// parameter blocks and set the number of residuals at run time.
+class CERES_EXPORT DynamicCostFunction : public CostFunction {
+ public:
+ ~DynamicCostFunction() {}
+
+ virtual void AddParameterBlock(int size) {
+ mutable_parameter_block_sizes()->push_back(size);
+ }
+
+ virtual void SetNumResiduals(int num_residuals) {
+ set_num_residuals(num_residuals);
+ }
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_
diff --git a/include/ceres/dynamic_cost_function_to_functor.h b/include/ceres/dynamic_cost_function_to_functor.h
index 9339a50..31280dc 100644
--- a/include/ceres/dynamic_cost_function_to_functor.h
+++ b/include/ceres/dynamic_cost_function_to_functor.h
@@ -28,7 +28,20 @@
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
// dgossow@google.com (David Gossow)
-//
+
+#ifndef CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
+#define CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
+
+#include <numeric>
+#include <vector>
+
+#include "ceres/dynamic_cost_function.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+
// DynamicCostFunctionToFunctor allows users to use CostFunction
// objects in templated functors which are to be used for automatic
// differentiation. It works similar to CostFunctionToFunctor, with the
@@ -87,20 +100,6 @@
// private:
// DynamicCostFunctionToFunctor intrinsic_projection_;
// };
-
-#ifndef CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
-#define CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
-
-#include <numeric>
-#include <vector>
-
-#include "ceres/cost_function.h"
-#include "ceres/internal/fixed_array.h"
-#include "ceres/internal/port.h"
-#include "ceres/internal/scoped_ptr.h"
-
-namespace ceres {
-
class DynamicCostFunctionToFunctor {
public:
// Takes ownership of cost_function.
diff --git a/include/ceres/dynamic_numeric_diff_cost_function.h b/include/ceres/dynamic_numeric_diff_cost_function.h
index 5770946..a011ac3 100644
--- a/include/ceres/dynamic_numeric_diff_cost_function.h
+++ b/include/ceres/dynamic_numeric_diff_cost_function.h
@@ -30,7 +30,23 @@
// sameeragarwal@google.com (Sameer Agarwal)
// thadh@gmail.com (Thad Hughes)
// tbennun@gmail.com (Tal Ben-Nun)
-//
+
+#ifndef CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
+
+#include <cmath>
+#include <numeric>
+#include <vector>
+
+#include "ceres/dynamic_cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/numeric_diff.h"
+#include "ceres/numeric_diff_options.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
// This numeric diff implementation differs from the one found in
// numeric_diff_cost_function.h by supporting numericdiff on cost
// functions with variable numbers of parameters with variable
@@ -56,25 +72,8 @@
// cost_function.AddParameterBlock(5);
// cost_function.AddParameterBlock(10);
// cost_function.SetNumResiduals(21);
-
-#ifndef CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
-#define CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
-
-#include <cmath>
-#include <numeric>
-#include <vector>
-
-#include "ceres/cost_function.h"
-#include "ceres/internal/scoped_ptr.h"
-#include "ceres/internal/eigen.h"
-#include "ceres/internal/numeric_diff.h"
-#include "ceres/numeric_diff_options.h"
-#include "glog/logging.h"
-
-namespace ceres {
-
template <typename CostFunctor, NumericDiffMethodType method = CENTRAL>
-class DynamicNumericDiffCostFunction : public CostFunction {
+class DynamicNumericDiffCostFunction : public DynamicCostFunction {
public:
explicit DynamicNumericDiffCostFunction(
const CostFunctor* functor,
@@ -91,14 +90,6 @@
}
}
- void AddParameterBlock(int size) {
- mutable_parameter_block_sizes()->push_back(size);
- }
-
- void SetNumResiduals(int num_residuals) {
- set_num_residuals(num_residuals);
- }
-
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
