Default Initialize ExpressionRef to Zero
The default constructor of ExpressionRef now creates a compile
time constant zero assignment. This patch is required, because
a reason change in Jet assumes default 0 initialization.
Change-Id: I8185cef587c17ab828896bce1e768170f8229d4e
diff --git a/include/ceres/codegen/internal/expression_ref.h b/include/ceres/codegen/internal/expression_ref.h
index d73d477..5499930 100644
--- a/include/ceres/codegen/internal/expression_ref.h
+++ b/include/ceres/codegen/internal/expression_ref.h
@@ -46,7 +46,7 @@
//
// ExpressionRef should be passed by value.
struct ExpressionRef {
- ExpressionRef() = default;
+ ExpressionRef() : ExpressionRef(0.0) {}
// Create a compile time constant expression directly from a double value.
// This is important so that we can write T(3.14) in our code and
@@ -57,6 +57,10 @@
// must work for T = Jet<ExpressionRef>.
ExpressionRef(double compile_time_constant);
+ // Adds the expression to the active graph and initializes this ExpressionRef
+ // accordingly.
+ ExpressionRef(const Expression& expression);
+
// By adding this deleted constructor we can detect invalid usage of
// ExpressionRef. ExpressionRef must only be created from constexpr doubles.
//
@@ -97,8 +101,6 @@
// The index into the ExpressionGraph data array.
ExpressionId id = kInvalidExpressionId;
-
- static ExpressionRef Create(ExpressionId id);
};
// A helper function which calls 'InsertBack' on the currently active graph.
diff --git a/internal/ceres/codegen/code_generator_test.cc b/internal/ceres/codegen/code_generator_test.cc
index 8b4aafc..f799a75 100644
--- a/internal/ceres/codegen/code_generator_test.cc
+++ b/internal/ceres/codegen/code_generator_test.cc
@@ -46,7 +46,7 @@
auto code = gen.Generate();
EXPECT_EQ(code.size(), reference.size());
- for (int i = 0; i < code.size(); ++i) {
+ for (int i = 0; i < std::min(code.size(), reference.size()); ++i) {
EXPECT_EQ(code[i], reference[i]) << "Invalid Line: " << (i + 1);
}
}
@@ -69,7 +69,7 @@
T d = T(std::numeric_limits<double>::infinity());
T e = T(-std::numeric_limits<double>::infinity());
T f = T(std::numeric_limits<double>::quiet_NaN());
- T g; // Uninitialized variables should not generate code!
+ T g; // Uninitialized variables are 0 initialized.
auto graph = StopRecordingExpressions();
std::vector<std::string> expected_code = {
"{",
@@ -79,12 +79,14 @@
" double v_3;",
" double v_4;",
" double v_5;",
+ " double v_6;",
" v_0 = 0;",
" v_1 = 123.5;",
" v_2 = 2;",
" v_3 = std::numeric_limits<double>::infinity();",
" v_4 = -std::numeric_limits<double>::infinity();",
" v_5 = std::numeric_limits<double>::quiet_NaN();",
+ " v_6 = 0;",
"}"};
GenerateAndCheck(graph, expected_code);
}
diff --git a/internal/ceres/codegen/expression_ref.cc b/internal/ceres/codegen/expression_ref.cc
index 883d4ea..369aec4 100644
--- a/internal/ceres/codegen/expression_ref.cc
+++ b/internal/ceres/codegen/expression_ref.cc
@@ -37,23 +37,19 @@
namespace internal {
ExpressionRef AddExpressionToGraph(const Expression& expression) {
+ return ExpressionRef(expression);
+}
+
+ExpressionRef::ExpressionRef(double compile_time_constant)
+ : ExpressionRef(
+ Expression::CreateCompileTimeConstant(compile_time_constant)) {}
+
+ExpressionRef::ExpressionRef(const Expression& expression) {
ExpressionGraph* graph = GetCurrentExpressionGraph();
CHECK(graph)
<< "The ExpressionGraph has to be created before using Expressions. This "
"is achieved by calling ceres::StartRecordingExpressions.";
- return ExpressionRef::Create(graph->InsertBack(expression));
-}
-
-ExpressionRef ExpressionRef::Create(ExpressionId id) {
- ExpressionRef ref;
- ref.id = id;
- return ref;
-}
-
-ExpressionRef::ExpressionRef(double compile_time_constant) {
- id = AddExpressionToGraph(
- Expression::CreateCompileTimeConstant(compile_time_constant))
- .id;
+ id = graph->InsertBack(expression);
}
ExpressionRef::ExpressionRef(const ExpressionRef& other) { *this = other; }
diff --git a/internal/ceres/codegen/expression_ref_test.cc b/internal/ceres/codegen/expression_ref_test.cc
index 280043b..c9a118b 100644
--- a/internal/ceres/codegen/expression_ref_test.cc
+++ b/internal/ceres/codegen/expression_ref_test.cc
@@ -48,13 +48,14 @@
T a = T(0);
T b = T(123.5);
T c = T(1 + 1);
- T d; // Uninitialized variables should not generate code!
+ T d; // Uninitialized variables are also compile time constants
auto graph = StopRecordingExpressions();
ExpressionGraph reference;
reference.InsertBack(Expression::CreateCompileTimeConstant(0));
reference.InsertBack(Expression::CreateCompileTimeConstant(123.5));
reference.InsertBack(Expression::CreateCompileTimeConstant(2));
+ reference.InsertBack(Expression::CreateCompileTimeConstant(0));
EXPECT_EQ(reference, graph);
}
