| // 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 |
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| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| // 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) |
| // |
| #ifndef CERES_PUBLIC_CODEGEN_COST_FUNCTION_H_ |
| #define CERES_PUBLIC_CODEGEN_COST_FUNCTION_H_ |
| |
| #include "ceres/codegen/macros.h" |
| #include "ceres/sized_cost_function.h" |
| |
| namespace ceres { |
| |
| // This is the interface for automatically generating cost functor derivative |
| // code. The template parameters are identical to those of SizedCostFunction<>. |
| // The behaviour of this class changes between code generation and problem |
| // solving. |
| // |
| // During code generation (when CERES_CODEGEN is defined), this class doesn't do |
| // anything. The templated operator() from your derived cost functor is used. |
| // |
| // After code generation (when CERES_CODEGEN is not defined), this class is a |
| // SizedCostFunction. The required Evaluate() function was generated and must be |
| // included into your cost functor. |
| // |
| // Usage Example: |
| // |
| // #include "ceres/codegen/cost_function.h" |
| // |
| // struct HelloWorldCostFunction : public ceres::CodegenCostFunction<1, 1> { |
| // // A default constructor is required, because the code generator has to |
| // // create an object of the cost function. |
| // HelloWorldCostFunction() = default; |
| // template <typename T> |
| // bool operator()(const T* x, T* residual) const { |
| // residual[0] = x[0] * x[0]; |
| // return true; |
| // } |
| // #include "examples/helloworldcostfunction.h" |
| // }; |
| |
| template <int kNumResiduals_, int... Ns> |
| class CodegenCostFunction |
| #ifdef CERES_CODEGEN |
| // During code generation we can't derive from SizedCostFunction. |
| // The variadic evaluation with Jets would try to call the empty Evaluate() |
| // instead of the templated functor. |
| #else |
| : public SizedCostFunction<kNumResiduals_, Ns...> |
| #endif |
| { |
| public: |
| static constexpr int kNumResiduals = kNumResiduals_; |
| static_assert(kNumResiduals > 0, |
| "Cost functions must have at least one residual block."); |
| static_assert(kNumResiduals != DYNAMIC, |
| "Code generation for dynamic residuals is not yet supported."); |
| static_assert(internal::StaticParameterDims<Ns...>::kIsValid, |
| "Invalid parameter block dimension detected. Each parameter " |
| "block dimension must be bigger than zero."); |
| using ParameterDims = internal::StaticParameterDims<Ns...>; |
| }; |
| |
| } // namespace ceres |
| #endif // CERES_PUBLIC_CODEGEN_COST_FUNCTION_H_ |