Initial commit of Ceres Solver.
diff --git a/include/ceres/internal/autodiff.h b/include/ceres/internal/autodiff.h
new file mode 100644
index 0000000..1a9d396
--- /dev/null
+++ b/include/ceres/internal/autodiff.h
@@ -0,0 +1,374 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 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: keir@google.com (Keir Mierle)
+//
+// Computation of the Jacobian matrix for vector-valued functions of multiple
+// variables, using automatic differentiation based on the implementation of
+// dual numbers in jet.h. Before reading the rest of this file, it is adivsable
+// to read jet.h's header comment in detail.
+//
+// The helper wrapper AutoDiff::Differentiate() computes the jacobian of
+// functors with templated operator() taking this form:
+//
+// struct F {
+// template<typename T>
+// bool operator(const T *x, const T *y, ..., T *z) {
+// // Compute z[] based on x[], y[], ...
+// // return true if computation succeeded, false otherwise.
+// }
+// };
+//
+// All inputs and outputs may be vector-valued.
+//
+// To understand how jets are used to compute the jacobian, a
+// picture may help. Consider a vector-valued function, F, returning 3
+// dimensions and taking a vector-valued parameter of 4 dimensions:
+//
+// y x
+// [ * ] F [ * ]
+// [ * ] <--- [ * ]
+// [ * ] [ * ]
+// [ * ]
+//
+// Similar to the 2-parameter example for f described in jet.h, computing the
+// jacobian dy/dx is done by substutiting a suitable jet object for x and all
+// intermediate steps of the computation of F. Since x is has 4 dimensions, use
+// a Jet<double, 4>.
+//
+// Before substituting a jet object for x, the dual components are set
+// appropriately for each dimension of x:
+//
+// y x
+// [ * | * * * * ] f [ * | 1 0 0 0 ] x0
+// [ * | * * * * ] <--- [ * | 0 1 0 0 ] x1
+// [ * | * * * * ] [ * | 0 0 1 0 ] x2
+// ---+--- [ * | 0 0 0 1 ] x3
+// | ^ ^ ^ ^
+// dy/dx | | | +----- infinitesimal for x3
+// | | +------- infinitesimal for x2
+// | +--------- infinitesimal for x1
+// +----------- infinitesimal for x0
+//
+// The reason to set the internal 4x4 submatrix to the identity is that we wish
+// to take the derivative of y separately with respect to each dimension of x.
+// Each column of the 4x4 identity is therefore for a single component of the
+// independent variable x.
+//
+// Then the jacobian of the mapping, dy/dx, is the 3x4 sub-matrix of the
+// extended y vector, indicated in the above diagram.
+//
+// Functors with multiple parameters
+// ---------------------------------
+// In practice, it is often convenient to use a function f of two or more
+// vector-valued parameters, for example, x[3] and z[6]. Unfortunately, the jet
+// framework is designed for a single-parameter vector-valued input. The wrapper
+// in this file addresses this issue adding support for functions with one or
+// more parameter vectors.
+//
+// To support multiple parameters, all the parameter vectors are concatenated
+// into one and treated as a single parameter vector, except that since the
+// functor expects different inputs, we need to construct the jets as if they
+// were part of a single parameter vector. The extended jets are passed
+// separately for each parameter.
+//
+// For example, consider a functor F taking two vector parameters, p[2] and
+// q[3], and producing an output y[4]:
+//
+// struct F {
+// template<typename T>
+// bool operator(const T *p, const T *q, T *z) {
+// // ...
+// }
+// };
+//
+// In this case, the necessary jet type is Jet<double, 5>. Here is a
+// visualization of the jet objects in this case:
+//
+// Dual components for p ----+
+// |
+// -+-
+// y [ * | 1 0 | 0 0 0 ] --- p[0]
+// [ * | 0 1 | 0 0 0 ] --- p[1]
+// [ * | . . | + + + ] |
+// [ * | . . | + + + ] v
+// [ * | . . | + + + ] <--- F(p, q)
+// [ * | . . | + + + ] ^
+// ^^^ ^^^^^ |
+// dy/dp dy/dq [ * | 0 0 | 1 0 0 ] --- q[0]
+// [ * | 0 0 | 0 1 0 ] --- q[1]
+// [ * | 0 0 | 0 0 1 ] --- q[2]
+// --+--
+// |
+// Dual components for q --------------+
+//
+// where the 4x2 submatrix (marked with ".") and 4x3 submatrix (marked with "+"
+// of y in the above diagram are the derivatives of y with respect to p and q
+// respectively. This is how autodiff works for functors taking multiple vector
+// valued arguments (up to 6).
+//
+// Jacobian NULL pointers
+// ----------------------
+// In general, the functions below will accept NULL pointers for all or some of
+// the Jacobian parameters, meaning that those Jacobians will not be computed.
+
+#ifndef CERES_PUBLIC_INTERNAL_AUTODIFF_H_
+#define CERES_PUBLIC_INTERNAL_AUTODIFF_H_
+
+#include <stddef.h>
+
+#include <glog/logging.h>
+#include "ceres/jet.h"
+#include "ceres/internal/fixed_array.h"
+
+namespace ceres {
+namespace internal {
+
+// Extends src by a 1st order pertubation for every dimension and puts it in
+// dst. The size of src is N. Since this is also used for perturbations in
+// blocked arrays, offset is used to shift which part of the jet the
+// perturbation occurs. This is used to set up the extended x augmented by an
+// identity matrix. The JetT type should be a Jet type, and T should be a
+// numeric type (e.g. double). For example,
+//
+// 0 1 2 3 4 5 6 7 8
+// dst[0] [ * | . . | 1 0 0 | . . . ]
+// dst[1] [ * | . . | 0 1 0 | . . . ]
+// dst[2] [ * | . . | 0 0 1 | . . . ]
+//
+// is what would get put in dst if N was 3, offset was 3, and the jet type JetT
+// was 8-dimensional.
+template <typename JetT, typename T>
+inline void Make1stOrderPerturbation(int offset, int N, const T *src,
+ JetT *dst) {
+ DCHECK(src);
+ DCHECK(dst);
+ for (int j = 0; j < N; ++j) {
+ dst[j] = JetT(src[j], offset + j);
+ }
+}
+
+// Takes the 0th order part of src, assumed to be a Jet type, and puts it in
+// dst. This is used to pick out the "vector" part of the extended y.
+template <typename JetT, typename T>
+inline void Take0thOrderPart(int M, const JetT *src, T dst) {
+ DCHECK(src);
+ for (int i = 0; i < M; ++i) {
+ dst[i] = src[i].a;
+ }
+}
+
+// Takes N 1st order parts, starting at index N0, and puts them in the M x N
+// matrix 'dst'. This is used to pick out the "matrix" parts of the extended y.
+template <typename JetT, typename T, int M, int N0, int N>
+inline void Take1stOrderPart(const JetT *src, T *dst) {
+ DCHECK(src);
+ DCHECK(dst);
+ // TODO(keir): Change Jet to use a single array, where v[0] is the
+ // non-infinitesimal part rather than "a". That way it's possible to use a
+ // single memcpy or eigen operation, rather than the explicit loop. The loop
+ // doesn't exploit any SSE or other intrinsics.
+ for (int i = 0; i < M; ++i) {
+ for (int j = 0; j < N; ++j) {
+ dst[N * i + j] = src[i].v[N0 + j];
+ }
+ }
+}
+
+// This block of quasi-repeated code calls the user-supplied functor, which may
+// take a variable number of arguments. This is accomplished by specializing the
+// struct based on the size of the trailing parameters; parameters with 0 size
+// are assumed missing.
+//
+// Supporting variadic functions is the primary source of complexity in the
+// autodiff implementation.
+
+template<typename Functor, typename T, int kNumOutputs,
+ int N0, int N1, int N2, int N3, int N4, int N5>
+struct VariadicEvaluate {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ input[5],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int kNumOutputs,
+ int N0, int N1, int N2, int N3, int N4>
+struct VariadicEvaluate<Functor, T, kNumOutputs, N0, N1, N2, N3, N4, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int kNumOutputs,
+ int N0, int N1, int N2, int N3>
+struct VariadicEvaluate<Functor, T, kNumOutputs, N0, N1, N2, N3, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int kNumOutputs,
+ int N0, int N1, int N2>
+struct VariadicEvaluate<Functor, T, kNumOutputs, N0, N1, N2, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int kNumOutputs,
+ int N0, int N1>
+struct VariadicEvaluate<Functor, T, kNumOutputs, N0, N1, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int kNumOutputs, int N0>
+struct VariadicEvaluate<Functor, T, kNumOutputs, N0, 0, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ output);
+ }
+};
+
+// This is in a struct because default template parameters on a function are not
+// supported in C++03 (though it is available in C++0x). N0 through N5 are the
+// dimension of the input arguments to the user supplied functor.
+template <typename Functor, typename T, int kNumOutputs,
+ int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0, int N5=0>
+struct AutoDiff {
+ static bool Differentiate(const Functor& functor,
+ T const *const *parameters,
+ T *function_value,
+ T **jacobians) {
+ typedef Jet<T, N0 + N1 + N2 + N3 + N4 + N5> JetT;
+
+ DCHECK_GT(N0, 0)
+ << "Cost functions must have at least one parameter block.";
+ DCHECK((!N1 && !N2 && !N3 && !N4 && !N5) ||
+ ((N1 > 0) && !N2 && !N3 && !N4 && !N5) ||
+ ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0)))
+ << "Zero block cannot precede a non-zero block. Block sizes are "
+ << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
+ << N3 << ", " << N4 << ", " << N5;
+
+ DCHECK_GT(kNumOutputs, 0);
+
+ FixedArray<JetT, (256 * 7) / sizeof(JetT)> x(
+ N0 + N1 + N2 + N3 + N4 + N5 + kNumOutputs);
+
+ // It's ugly, but it works.
+ const int jet0 = 0;
+ const int jet1 = N0;
+ const int jet2 = N0 + N1;
+ const int jet3 = N0 + N1 + N2;
+ const int jet4 = N0 + N1 + N2 + N3;
+ const int jet5 = N0 + N1 + N2 + N3 + N4;
+ const int jet6 = N0 + N1 + N2 + N3 + N4 + N5;
+
+ const JetT *unpacked_parameters[6] = {
+ x.get() + jet0,
+ x.get() + jet1,
+ x.get() + jet2,
+ x.get() + jet3,
+ x.get() + jet4,
+ x.get() + jet5,
+ };
+ JetT *output = x.get() + jet6;
+
+#define CERES_MAKE_1ST_ORDER_PERTURBATION(i) \
+ if (N ## i) { \
+ internal::Make1stOrderPerturbation(jet ## i, \
+ N ## i, \
+ parameters[i], \
+ x.get() + jet ## i); \
+ }
+ CERES_MAKE_1ST_ORDER_PERTURBATION(0);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(1);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(2);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(3);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(4);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(5);
+#undef CERES_MAKE_1ST_ORDER_PERTURBATION
+
+ if (!VariadicEvaluate<Functor, JetT, kNumOutputs,
+ N0, N1, N2, N3, N4, N5>::Call(
+ functor, unpacked_parameters, output)) {
+ return false;
+ }
+
+ internal::Take0thOrderPart(kNumOutputs, output, function_value);
+
+#define CERES_TAKE_1ST_ORDER_PERTURBATION(i) \
+ if (N ## i) { \
+ if (jacobians[i]) { \
+ internal::Take1stOrderPart<JetT, T, \
+ kNumOutputs, \
+ jet ## i, \
+ N ## i>(output, \
+ jacobians[i]); \
+ } \
+ }
+ CERES_TAKE_1ST_ORDER_PERTURBATION(0);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(1);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(2);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(3);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(4);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(5);
+#undef CERES_TAKE_1ST_ORDER_PERTURBATION
+ return true;
+ }
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_AUTODIFF_H_
diff --git a/include/ceres/internal/eigen.h b/include/ceres/internal/eigen.h
new file mode 100644
index 0000000..be76f9e
--- /dev/null
+++ b/include/ceres/internal/eigen.h
@@ -0,0 +1,80 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 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: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_EIGEN_H_
+#define CERES_INTERNAL_EIGEN_H_
+
+#include "Eigen/Core"
+
+namespace ceres {
+
+using Eigen::Dynamic;
+using Eigen::RowMajor;
+
+typedef Eigen::Matrix<double, Dynamic, 1> Vector;
+typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix;
+typedef Eigen::Map<Vector> VectorRef;
+typedef Eigen::Map<Matrix> MatrixRef;
+typedef Eigen::Map<Matrix, Eigen::Aligned> AlignedMatrixRef;
+typedef Eigen::Map<const Vector> ConstVectorRef;
+typedef Eigen::Map<const Matrix, Eigen::Aligned> ConstAlignedMatrixRef;
+typedef Eigen::Map<const Matrix> ConstMatrixRef;
+
+// C++ does not support templated typdefs, thus the need for this
+// struct so that we can support statically sized Matrix and Maps.
+template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
+struct EigenTypes {
+ typedef Eigen::Matrix <double, num_rows, num_cols, RowMajor>
+ Matrix;
+
+ typedef Eigen::Map<
+ Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+ MatrixRef;
+
+ typedef Eigen::Matrix <double, num_rows, 1>
+ Vector;
+
+ typedef Eigen::Map <
+ Eigen::Matrix<double, num_rows, 1> >
+ VectorRef;
+
+
+ typedef Eigen::Map<
+ const Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+ ConstMatrixRef;
+
+ typedef Eigen::Map <
+ const Eigen::Matrix<double, num_rows, 1> >
+ ConstVectorRef;
+};
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_EIGEN_H_
diff --git a/include/ceres/internal/fixed_array.h b/include/ceres/internal/fixed_array.h
new file mode 100644
index 0000000..29ef157
--- /dev/null
+++ b/include/ceres/internal/fixed_array.h
@@ -0,0 +1,187 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 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: rennie@google.com (Jeffrey Rennie)
+// Author: sanjay@google.com (Sanjay Ghemawat) -- renamed to FixedArray
+
+#ifndef CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
+#define CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
+
+#include <cstddef>
+#include <glog/logging.h>
+#include "ceres/internal/manual_constructor.h"
+
+namespace ceres {
+namespace internal {
+
+// A FixedArray<T> represents a non-resizable array of T where the
+// length of the array does not need to be a compile time constant.
+//
+// FixedArray allocates small arrays inline, and large arrays on
+// the heap. It is a good replacement for non-standard and deprecated
+// uses of alloca() and variable length arrays (a GCC extension).
+//
+// FixedArray keeps performance fast for small arrays, because it
+// avoids heap operations. It also helps reduce the chances of
+// accidentally overflowing your stack if large input is passed to
+// your function.
+//
+// Also, FixedArray is useful for writing portable code. Not all
+// compilers support arrays of dynamic size.
+
+// Most users should not specify an inline_elements argument and let
+// FixedArray<> automatically determine the number of elements
+// to store inline based on sizeof(T).
+//
+// If inline_elements is specified, the FixedArray<> implementation
+// will store arrays of length <= inline_elements inline.
+//
+// Finally note that unlike vector<T> FixedArray<T> will not zero-initialize
+// simple types like int, double, bool, etc.
+//
+// Non-POD types will be default-initialized just like regular vectors or
+// arrays.
+
+template <typename T, ssize_t inline_elements = -1>
+class FixedArray {
+ public:
+ // For playing nicely with stl:
+ typedef T value_type;
+ typedef T* iterator;
+ typedef T const* const_iterator;
+ typedef T& reference;
+ typedef T const& const_reference;
+ typedef T* pointer;
+ typedef std::ptrdiff_t difference_type;
+ typedef size_t size_type;
+
+ // REQUIRES: n >= 0
+ // Creates an array object that can store "n" elements.
+ //
+ // FixedArray<T> will not zero-initialiaze POD (simple) types like int,
+ // double, bool, etc.
+ // Non-POD types will be default-initialized just like regular vectors or
+ // arrays.
+ explicit FixedArray(size_type n);
+
+ // Releases any resources.
+ ~FixedArray();
+
+ // Returns the length of the array.
+ inline size_type size() const { return size_; }
+
+ // Returns the memory size of the array in bytes.
+ inline size_t memsize() const { return size_ * sizeof(T); }
+
+ // Returns a pointer to the underlying element array.
+ inline const T* get() const { return &array_[0].element; }
+ inline T* get() { return &array_[0].element; }
+
+ // REQUIRES: 0 <= i < size()
+ // Returns a reference to the "i"th element.
+ inline T& operator[](size_type i) {
+ DCHECK_GE(i, 0);
+ DCHECK_LT(i, size_);
+ return array_[i].element;
+ }
+
+ // REQUIRES: 0 <= i < size()
+ // Returns a reference to the "i"th element.
+ inline const T& operator[](size_type i) const {
+ DCHECK_GE(i, 0);
+ DCHECK_LT(i, size_);
+ return array_[i].element;
+ }
+
+ inline iterator begin() { return &array_[0].element; }
+ inline iterator end() { return &array_[size_].element; }
+
+ inline const_iterator begin() const { return &array_[0].element; }
+ inline const_iterator end() const { return &array_[size_].element; }
+
+ private:
+ // Container to hold elements of type T. This is necessary to handle
+ // the case where T is a a (C-style) array. The size of InnerContainer
+ // and T must be the same, otherwise callers' assumptions about use
+ // of this code will be broken.
+ struct InnerContainer {
+ T element;
+ };
+
+ // How many elements should we store inline?
+ // a. If not specified, use a default of 256 bytes (256 bytes
+ // seems small enough to not cause stack overflow or unnecessary
+ // stack pollution, while still allowing stack allocation for
+ // reasonably long character arrays.
+ // b. Never use 0 length arrays (not ISO C++)
+ static const size_type S1 = ((inline_elements < 0)
+ ? (256/sizeof(T)) : inline_elements);
+ static const size_type S2 = (S1 <= 0) ? 1 : S1;
+ static const size_type kInlineElements = S2;
+
+ size_type const size_;
+ InnerContainer* const array_;
+
+ // Allocate some space, not an array of elements of type T, so that we can
+ // skip calling the T constructors and destructors for space we never use.
+ ManualConstructor<InnerContainer> inline_space_[kInlineElements];
+};
+
+// Implementation details follow
+
+template <class T, ssize_t S>
+inline FixedArray<T, S>::FixedArray(FixedArray<T, S>::size_type n)
+ : size_(n),
+ array_((n <= kInlineElements
+ ? reinterpret_cast<InnerContainer*>(inline_space_)
+ : new InnerContainer[n])) {
+ DCHECK_GE(n, 0);
+
+ // Construct only the elements actually used.
+ if (array_ == reinterpret_cast<InnerContainer*>(inline_space_)) {
+ for (int i = 0; i != size_; ++i) {
+ inline_space_[i].Init();
+ }
+ }
+}
+
+template <class T, ssize_t S>
+inline FixedArray<T, S>::~FixedArray() {
+ if (array_ != reinterpret_cast<InnerContainer*>(inline_space_)) {
+ delete[] array_;
+ } else {
+ for (int i = 0; i != size_; ++i) {
+ inline_space_[i].Destroy();
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
diff --git a/include/ceres/internal/macros.h b/include/ceres/internal/macros.h
new file mode 100644
index 0000000..05d6287
--- /dev/null
+++ b/include/ceres/internal/macros.h
@@ -0,0 +1,153 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 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.
+//
+//
+// Various Google-specific macros.
+//
+// This code is compiled directly on many platforms, including client
+// platforms like Windows, Mac, and embedded systems. Before making
+// any changes here, make sure that you're not breaking any platforms.
+
+#ifndef CERES_PUBLIC_INTERNAL_MACROS_H_
+#define CERES_PUBLIC_INTERNAL_MACROS_H_
+
+#include <cstddef> // For size_t.
+
+// A macro to disallow the copy constructor and operator= functions
+// This should be used in the private: declarations for a class
+//
+// For disallowing only assign or copy, write the code directly, but declare
+// the intend in a comment, for example:
+// void operator=(const TypeName&); // DISALLOW_ASSIGN
+// Note, that most uses of DISALLOW_ASSIGN and DISALLOW_COPY are broken
+// semantically, one should either use disallow both or neither. Try to
+// avoid these in new code.
+#define DISALLOW_COPY_AND_ASSIGN(TypeName) \
+ TypeName(const TypeName&); \
+ void operator=(const TypeName&)
+
+// A macro to disallow all the implicit constructors, namely the
+// default constructor, copy constructor and operator= functions.
+//
+// This should be used in the private: declarations for a class
+// that wants to prevent anyone from instantiating it. This is
+// especially useful for classes containing only static methods.
+#define DISALLOW_IMPLICIT_CONSTRUCTORS(TypeName) \
+ TypeName(); \
+ DISALLOW_COPY_AND_ASSIGN(TypeName)
+
+// The arraysize(arr) macro returns the # of elements in an array arr.
+// The expression is a compile-time constant, and therefore can be
+// used in defining new arrays, for example. If you use arraysize on
+// a pointer by mistake, you will get a compile-time error.
+//
+// One caveat is that arraysize() doesn't accept any array of an
+// anonymous type or a type defined inside a function. In these rare
+// cases, you have to use the unsafe ARRAYSIZE() macro below. This is
+// due to a limitation in C++'s template system. The limitation might
+// eventually be removed, but it hasn't happened yet.
+
+// This template function declaration is used in defining arraysize.
+// Note that the function doesn't need an implementation, as we only
+// use its type.
+template <typename T, size_t N>
+char (&ArraySizeHelper(T (&array)[N]))[N];
+
+// That gcc wants both of these prototypes seems mysterious. VC, for
+// its part, can't decide which to use (another mystery). Matching of
+// template overloads: the final frontier.
+#ifndef COMPILER_MSVC
+template <typename T, size_t N>
+char (&ArraySizeHelper(const T (&array)[N]))[N];
+#endif
+
+#define arraysize(array) (sizeof(ArraySizeHelper(array)))
+
+// ARRAYSIZE performs essentially the same calculation as arraysize,
+// but can be used on anonymous types or types defined inside
+// functions. It's less safe than arraysize as it accepts some
+// (although not all) pointers. Therefore, you should use arraysize
+// whenever possible.
+//
+// The expression ARRAYSIZE(a) is a compile-time constant of type
+// size_t.
+//
+// ARRAYSIZE catches a few type errors. If you see a compiler error
+//
+// "warning: division by zero in ..."
+//
+// when using ARRAYSIZE, you are (wrongfully) giving it a pointer.
+// You should only use ARRAYSIZE on statically allocated arrays.
+//
+// The following comments are on the implementation details, and can
+// be ignored by the users.
+//
+// ARRAYSIZE(arr) works by inspecting sizeof(arr) (the # of bytes in
+// the array) and sizeof(*(arr)) (the # of bytes in one array
+// element). If the former is divisible by the latter, perhaps arr is
+// indeed an array, in which case the division result is the # of
+// elements in the array. Otherwise, arr cannot possibly be an array,
+// and we generate a compiler error to prevent the code from
+// compiling.
+//
+// Since the size of bool is implementation-defined, we need to cast
+// !(sizeof(a) & sizeof(*(a))) to size_t in order to ensure the final
+// result has type size_t.
+//
+// This macro is not perfect as it wrongfully accepts certain
+// pointers, namely where the pointer size is divisible by the pointee
+// size. Since all our code has to go through a 32-bit compiler,
+// where a pointer is 4 bytes, this means all pointers to a type whose
+// size is 3 or greater than 4 will be (righteously) rejected.
+//
+// Kudos to Jorg Brown for this simple and elegant implementation.
+//
+// - wan 2005-11-16
+//
+// Starting with Visual C++ 2005, WinNT.h includes ARRAYSIZE.
+#if !defined(COMPILER_MSVC) || (defined(_MSC_VER) && _MSC_VER < 1400)
+#define ARRAYSIZE(a) \
+ ((sizeof(a) / sizeof(*(a))) / \
+ static_cast<size_t>(!(sizeof(a) % sizeof(*(a)))))
+#endif
+
+// Tell the compiler to warn about unused return values for functions declared
+// with this macro. The macro should be used on function declarations
+// following the argument list:
+//
+// Sprocket* AllocateSprocket() MUST_USE_RESULT;
+//
+#undef MUST_USE_RESULT
+#if (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) \
+ && !defined(COMPILER_ICC)
+#define MUST_USE_RESULT __attribute__ ((warn_unused_result))
+#else
+#define MUST_USE_RESULT
+#endif
+
+#endif // CERES_PUBLIC_INTERNAL_MACROS_H_
diff --git a/include/ceres/internal/manual_constructor.h b/include/ceres/internal/manual_constructor.h
new file mode 100644
index 0000000..a1d1f44
--- /dev/null
+++ b/include/ceres/internal/manual_constructor.h
@@ -0,0 +1,214 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 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: kenton@google.com (Kenton Varda)
+//
+// ManualConstructor statically-allocates space in which to store some
+// object, but does not initialize it. You can then call the constructor
+// and destructor for the object yourself as you see fit. This is useful
+// for memory management optimizations, where you want to initialize and
+// destroy an object multiple times but only allocate it once.
+//
+// (When I say ManualConstructor statically allocates space, I mean that
+// the ManualConstructor object itself is forced to be the right size.)
+
+#ifndef CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
+#define CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
+
+#include <new>
+
+namespace ceres {
+namespace internal {
+
+// ------- Define ALIGNED_CHAR_ARRAY --------------------------------
+
+#ifndef ALIGNED_CHAR_ARRAY
+
+// Because MSVC and older GCCs require that the argument to their alignment
+// construct to be a literal constant integer, we use a template instantiated
+// at all the possible powers of two.
+template<int alignment, int size> struct AlignType { };
+template<int size> struct AlignType<0, size> { typedef char result[size]; };
+#if defined(_MSC_VER)
+#define BASE_PORT_H_ALIGN_ATTRIBUTE(X) __declspec(align(X))
+#define BASE_PORT_H_ALIGN_OF(T) __alignof(T)
+#elif defined(__GNUC__)
+#define BASE_PORT_H_ALIGN_ATTRIBUTE(X) __attribute__((aligned(X)))
+#define BASE_PORT_H_ALIGN_OF(T) __alignof__(T)
+#endif
+
+#if defined(BASE_PORT_H_ALIGN_ATTRIBUTE)
+
+#define BASE_PORT_H_ALIGNTYPE_TEMPLATE(X) \
+ template<int size> struct AlignType<X, size> { \
+ typedef BASE_PORT_H_ALIGN_ATTRIBUTE(X) char result[size]; \
+ }
+
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(1);
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(2);
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(4);
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(8);
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(16);
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(32);
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(64);
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(128);
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(256);
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(512);
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(1024);
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(2048);
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(4096);
+BASE_PORT_H_ALIGNTYPE_TEMPLATE(8192);
+// Any larger and MSVC++ will complain.
+
+#define ALIGNED_CHAR_ARRAY(T, Size) \
+ typename AlignType<BASE_PORT_H_ALIGN_OF(T), sizeof(T) * Size>::result
+
+#undef BASE_PORT_H_ALIGNTYPE_TEMPLATE
+#undef BASE_PORT_H_ALIGN_ATTRIBUTE
+
+#else // defined(BASE_PORT_H_ALIGN_ATTRIBUTE)
+#define ALIGNED_CHAR_ARRAY you_must_define_ALIGNED_CHAR_ARRAY_for_your_compiler
+#endif // defined(BASE_PORT_H_ALIGN_ATTRIBUTE)
+
+#undef BASE_PORT_H_ALIGNTYPE_TEMPLATE
+#undef BASE_PORT_H_ALIGN_ATTRIBUTE
+
+#endif // ALIGNED_CHAR_ARRAY
+
+template <typename Type>
+class ManualConstructor {
+ public:
+ // No constructor or destructor because one of the most useful uses of
+ // this class is as part of a union, and members of a union cannot have
+ // constructors or destructors. And, anyway, the whole point of this
+ // class is to bypass these.
+
+ inline Type* get() {
+ return reinterpret_cast<Type*>(space_);
+ }
+ inline const Type* get() const {
+ return reinterpret_cast<const Type*>(space_);
+ }
+
+ inline Type* operator->() { return get(); }
+ inline const Type* operator->() const { return get(); }
+
+ inline Type& operator*() { return *get(); }
+ inline const Type& operator*() const { return *get(); }
+
+ // You can pass up to four constructor arguments as arguments of Init().
+ inline void Init() {
+ new(space_) Type;
+ }
+
+ template <typename T1>
+ inline void Init(const T1& p1) {
+ new(space_) Type(p1);
+ }
+
+ template <typename T1, typename T2>
+ inline void Init(const T1& p1, const T2& p2) {
+ new(space_) Type(p1, p2);
+ }
+
+ template <typename T1, typename T2, typename T3>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3) {
+ new(space_) Type(p1, p2, p3);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4) {
+ new(space_) Type(p1, p2, p3, p4);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5) {
+ new(space_) Type(p1, p2, p3, p4, p5);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6) {
+ new(space_) Type(p1, p2, p3, p4, p5, p6);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7) {
+ new(space_) Type(p1, p2, p3, p4, p5, p6, p7);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7, const T8& p8) {
+ new(space_) Type(p1, p2, p3, p4, p5, p6, p7, p8);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7, const T8& p8,
+ const T9& p9) {
+ new(space_) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7, const T8& p8,
+ const T9& p9, const T10& p10) {
+ new(space_) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7, const T8& p8,
+ const T9& p9, const T10& p10, const T11& p11) {
+ new(space_) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10, p11);
+ }
+
+ inline void Destroy() {
+ get()->~Type();
+ }
+
+ private:
+ ALIGNED_CHAR_ARRAY(Type, 1) space_;
+};
+
+#undef ALIGNED_CHAR_ARRAY
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
diff --git a/include/ceres/internal/port.h b/include/ceres/internal/port.h
new file mode 100644
index 0000000..9a3e5cc
--- /dev/null
+++ b/include/ceres/internal/port.h
@@ -0,0 +1,44 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 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: keir@google.com (Keir Mierle)
+
+#ifndef CERES_PUBLIC_INTERNAL_PORT_H_
+#define CERES_PUBLIC_INTERNAL_PORT_H_
+
+namespace ceres {
+
+// It is unfortunate that this import of the entire standard namespace is
+// necessary. The reasons are historical and won't be explained here, but
+// suffice to say it is not a mistake and can't be removed without breaking
+// things outside of the Ceres optimization package.
+using namespace std;
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_PORT_H_
diff --git a/include/ceres/internal/scoped_ptr.h b/include/ceres/internal/scoped_ptr.h
new file mode 100644
index 0000000..44f198b
--- /dev/null
+++ b/include/ceres/internal/scoped_ptr.h
@@ -0,0 +1,311 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 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: jorg@google.com (Jorg Brown)
+//
+// This is an implementation designed to match the anticipated future TR2
+// implementation of the scoped_ptr class, and its closely-related brethren,
+// scoped_array, scoped_ptr_malloc, and make_scoped_ptr.
+
+#ifndef CERES_PUBLIC_INTERNAL_SCOPED_PTR_H_
+#define CERES_PUBLIC_INTERNAL_SCOPED_PTR_H_
+
+#include <assert.h>
+#include <stdlib.h>
+#include <cstddef>
+
+namespace ceres {
+namespace internal {
+
+template <class C> class scoped_ptr;
+template <class C, class Free> class scoped_ptr_malloc;
+template <class C> class scoped_array;
+
+template <class C>
+scoped_ptr<C> make_scoped_ptr(C *);
+
+// A scoped_ptr<T> is like a T*, except that the destructor of scoped_ptr<T>
+// automatically deletes the pointer it holds (if any). That is, scoped_ptr<T>
+// owns the T object that it points to. Like a T*, a scoped_ptr<T> may hold
+// either NULL or a pointer to a T object. Also like T*, scoped_ptr<T> is
+// thread-compatible, and once you dereference it, you get the threadsafety
+// guarantees of T.
+//
+// The size of a scoped_ptr is small: sizeof(scoped_ptr<C>) == sizeof(C*)
+template <class C>
+class scoped_ptr {
+ public:
+
+ // The element type
+ typedef C element_type;
+
+ // Constructor. Defaults to intializing with NULL.
+ // There is no way to create an uninitialized scoped_ptr.
+ // The input parameter must be allocated with new.
+ explicit scoped_ptr(C* p = NULL) : ptr_(p) { }
+
+ // Destructor. If there is a C object, delete it.
+ // We don't need to test ptr_ == NULL because C++ does that for us.
+ ~scoped_ptr() {
+ enum { type_must_be_complete = sizeof(C) };
+ delete ptr_;
+ }
+
+ // Reset. Deletes the current owned object, if any.
+ // Then takes ownership of a new object, if given.
+ // this->reset(this->get()) works.
+ void reset(C* p = NULL) {
+ if (p != ptr_) {
+ enum { type_must_be_complete = sizeof(C) };
+ delete ptr_;
+ ptr_ = p;
+ }
+ }
+
+ // Accessors to get the owned object.
+ // operator* and operator-> will assert() if there is no current object.
+ C& operator*() const {
+ assert(ptr_ != NULL);
+ return *ptr_;
+ }
+ C* operator->() const {
+ assert(ptr_ != NULL);
+ return ptr_;
+ }
+ C* get() const { return ptr_; }
+
+ // Comparison operators.
+ // These return whether a scoped_ptr and a raw pointer refer to
+ // the same object, not just to two different but equal objects.
+ bool operator==(const C* p) const { return ptr_ == p; }
+ bool operator!=(const C* p) const { return ptr_ != p; }
+
+ // Swap two scoped pointers.
+ void swap(scoped_ptr& p2) {
+ C* tmp = ptr_;
+ ptr_ = p2.ptr_;
+ p2.ptr_ = tmp;
+ }
+
+ // Release a pointer.
+ // The return value is the current pointer held by this object.
+ // If this object holds a NULL pointer, the return value is NULL.
+ // After this operation, this object will hold a NULL pointer,
+ // and will not own the object any more.
+ C* release() {
+ C* retVal = ptr_;
+ ptr_ = NULL;
+ return retVal;
+ }
+
+ private:
+ C* ptr_;
+
+ // google3 friend class that can access copy ctor (although if it actually
+ // calls a copy ctor, there will be a problem) see below
+ friend scoped_ptr<C> make_scoped_ptr<C>(C *p);
+
+ // Forbid comparison of scoped_ptr types. If C2 != C, it totally doesn't
+ // make sense, and if C2 == C, it still doesn't make sense because you should
+ // never have the same object owned by two different scoped_ptrs.
+ template <class C2> bool operator==(scoped_ptr<C2> const& p2) const;
+ template <class C2> bool operator!=(scoped_ptr<C2> const& p2) const;
+
+ // Disallow evil constructors
+ scoped_ptr(const scoped_ptr&);
+ void operator=(const scoped_ptr&);
+};
+
+// Free functions
+template <class C>
+inline void swap(scoped_ptr<C>& p1, scoped_ptr<C>& p2) {
+ p1.swap(p2);
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_ptr<C>& p2) {
+ return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_ptr<const C>& p2) {
+ return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_ptr<C>& p2) {
+ return p1 != p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_ptr<const C>& p2) {
+ return p1 != p2.get();
+}
+
+template <class C>
+scoped_ptr<C> make_scoped_ptr(C *p) {
+ // This does nothing but to return a scoped_ptr of the type that the passed
+ // pointer is of. (This eliminates the need to specify the name of T when
+ // making a scoped_ptr that is used anonymously/temporarily.) From an
+ // access control point of view, we construct an unnamed scoped_ptr here
+ // which we return and thus copy-construct. Hence, we need to have access
+ // to scoped_ptr::scoped_ptr(scoped_ptr const &). However, it is guaranteed
+ // that we never actually call the copy constructor, which is a good thing
+ // as we would call the temporary's object destructor (and thus delete p)
+ // if we actually did copy some object, here.
+ return scoped_ptr<C>(p);
+}
+
+// scoped_array<C> is like scoped_ptr<C>, except that the caller must allocate
+// with new [] and the destructor deletes objects with delete [].
+//
+// As with scoped_ptr<C>, a scoped_array<C> either points to an object
+// or is NULL. A scoped_array<C> owns the object that it points to.
+// scoped_array<T> is thread-compatible, and once you index into it,
+// the returned objects have only the threadsafety guarantees of T.
+//
+// Size: sizeof(scoped_array<C>) == sizeof(C*)
+template <class C>
+class scoped_array {
+ public:
+
+ // The element type
+ typedef C element_type;
+
+ // Constructor. Defaults to intializing with NULL.
+ // There is no way to create an uninitialized scoped_array.
+ // The input parameter must be allocated with new [].
+ explicit scoped_array(C* p = NULL) : array_(p) { }
+
+ // Destructor. If there is a C object, delete it.
+ // We don't need to test ptr_ == NULL because C++ does that for us.
+ ~scoped_array() {
+ enum { type_must_be_complete = sizeof(C) };
+ delete[] array_;
+ }
+
+ // Reset. Deletes the current owned object, if any.
+ // Then takes ownership of a new object, if given.
+ // this->reset(this->get()) works.
+ void reset(C* p = NULL) {
+ if (p != array_) {
+ enum { type_must_be_complete = sizeof(C) };
+ delete[] array_;
+ array_ = p;
+ }
+ }
+
+ // Get one element of the current object.
+ // Will assert() if there is no current object, or index i is negative.
+ C& operator[](std::ptrdiff_t i) const {
+ assert(i >= 0);
+ assert(array_ != NULL);
+ return array_[i];
+ }
+
+ // Get a pointer to the zeroth element of the current object.
+ // If there is no current object, return NULL.
+ C* get() const {
+ return array_;
+ }
+
+ // Comparison operators.
+ // These return whether a scoped_array and a raw pointer refer to
+ // the same array, not just to two different but equal arrays.
+ bool operator==(const C* p) const { return array_ == p; }
+ bool operator!=(const C* p) const { return array_ != p; }
+
+ // Swap two scoped arrays.
+ void swap(scoped_array& p2) {
+ C* tmp = array_;
+ array_ = p2.array_;
+ p2.array_ = tmp;
+ }
+
+ // Release an array.
+ // The return value is the current pointer held by this object.
+ // If this object holds a NULL pointer, the return value is NULL.
+ // After this operation, this object will hold a NULL pointer,
+ // and will not own the object any more.
+ C* release() {
+ C* retVal = array_;
+ array_ = NULL;
+ return retVal;
+ }
+
+ private:
+ C* array_;
+
+ // Forbid comparison of different scoped_array types.
+ template <class C2> bool operator==(scoped_array<C2> const& p2) const;
+ template <class C2> bool operator!=(scoped_array<C2> const& p2) const;
+
+ // Disallow evil constructors
+ scoped_array(const scoped_array&);
+ void operator=(const scoped_array&);
+};
+
+// Free functions
+template <class C>
+inline void swap(scoped_array<C>& p1, scoped_array<C>& p2) {
+ p1.swap(p2);
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_array<C>& p2) {
+ return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_array<const C>& p2) {
+ return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_array<C>& p2) {
+ return p1 != p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_array<const C>& p2) {
+ return p1 != p2.get();
+}
+
+// This class wraps the c library function free() in a class that can be
+// passed as a template argument to scoped_ptr_malloc below.
+class ScopedPtrMallocFree {
+ public:
+ inline void operator()(void* x) const {
+ free(x);
+ }
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_SCOPED_PTR_H_
