| // 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 |
| // 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: darius.rueckert@fau.de (Darius Rueckert) |
| |
| #include "ceres/codegen/internal/expression_ref.h" |
| |
| #include "ceres/codegen/internal/expression_graph.h" |
| #include "glog/logging.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| ExpressionRef AddExpressionToGraph(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; |
| } |
| |
| ExpressionRef::ExpressionRef(const ExpressionRef& other) { *this = other; } |
| |
| ExpressionRef& ExpressionRef::operator=(const ExpressionRef& other) { |
| // Assigning an uninitialized variable to another variable is an error. |
| CHECK(other.IsInitialized()) << "Uninitialized Assignment."; |
| if (IsInitialized()) { |
| // Create assignment from other -> this |
| AddExpressionToGraph(Expression::CreateAssignment(this->id, other.id)); |
| } else { |
| // Create a new variable and |
| // Create assignment from other -> this |
| // Passing kInvalidExpressionId to CreateAssignment generates a new |
| // variable name which we store in the id. |
| id = AddExpressionToGraph( |
| Expression::CreateAssignment(kInvalidExpressionId, other.id)) |
| .id; |
| } |
| return *this; |
| } |
| |
| // Compound operators |
| ExpressionRef& ExpressionRef::operator+=(const ExpressionRef& x) { |
| *this = *this + x; |
| return *this; |
| } |
| |
| ExpressionRef& ExpressionRef::operator-=(const ExpressionRef& x) { |
| *this = *this - x; |
| return *this; |
| } |
| |
| ExpressionRef& ExpressionRef::operator*=(const ExpressionRef& x) { |
| *this = *this * x; |
| return *this; |
| } |
| |
| ExpressionRef& ExpressionRef::operator/=(const ExpressionRef& x) { |
| *this = *this / x; |
| return *this; |
| } |
| |
| // Arith. Operators |
| ExpressionRef operator-(const ExpressionRef& x) { |
| return AddExpressionToGraph(Expression::CreateUnaryArithmetic("-", x.id)); |
| } |
| |
| ExpressionRef operator+(const ExpressionRef& x) { |
| return AddExpressionToGraph(Expression::CreateUnaryArithmetic("+", x.id)); |
| } |
| |
| ExpressionRef operator+(const ExpressionRef& x, const ExpressionRef& y) { |
| return AddExpressionToGraph( |
| Expression::CreateBinaryArithmetic("+", x.id, y.id)); |
| } |
| |
| ExpressionRef operator-(const ExpressionRef& x, const ExpressionRef& y) { |
| return AddExpressionToGraph( |
| Expression::CreateBinaryArithmetic("-", x.id, y.id)); |
| } |
| |
| ExpressionRef operator/(const ExpressionRef& x, const ExpressionRef& y) { |
| return AddExpressionToGraph( |
| Expression::CreateBinaryArithmetic("/", x.id, y.id)); |
| } |
| |
| ExpressionRef operator*(const ExpressionRef& x, const ExpressionRef& y) { |
| return AddExpressionToGraph( |
| Expression::CreateBinaryArithmetic("*", x.id, y.id)); |
| } |
| |
| ExpressionRef Ternary(const ComparisonExpressionRef& c, |
| const ExpressionRef& x, |
| const ExpressionRef& y) { |
| return AddExpressionToGraph(Expression::CreateScalarFunctionCall( |
| "ceres::Ternary", {c.id, x.id, y.id})); |
| } |
| |
| #define CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(op) \ |
| ComparisonExpressionRef operator op(const ExpressionRef& x, \ |
| const ExpressionRef& y) { \ |
| return ComparisonExpressionRef(AddExpressionToGraph( \ |
| Expression::CreateBinaryCompare(#op, x.id, y.id))); \ |
| } |
| |
| #define CERES_DEFINE_EXPRESSION_LOGICAL_OPERATOR(op) \ |
| ComparisonExpressionRef operator op(const ComparisonExpressionRef& x, \ |
| const ComparisonExpressionRef& y) { \ |
| return ComparisonExpressionRef(AddExpressionToGraph( \ |
| Expression::CreateBinaryCompare(#op, x.id, y.id))); \ |
| } |
| |
| CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(<) |
| CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(<=) |
| CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(>) |
| CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(>=) |
| CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(==) |
| CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR(!=) |
| CERES_DEFINE_EXPRESSION_LOGICAL_OPERATOR(&&) |
| CERES_DEFINE_EXPRESSION_LOGICAL_OPERATOR(||) |
| CERES_DEFINE_EXPRESSION_LOGICAL_OPERATOR(&) |
| CERES_DEFINE_EXPRESSION_LOGICAL_OPERATOR(|) |
| #undef CERES_DEFINE_EXPRESSION_COMPARISON_OPERATOR |
| #undef CERES_DEFINE_EXPRESSION_LOGICAL_OPERATOR |
| |
| ComparisonExpressionRef operator!(const ComparisonExpressionRef& x) { |
| return ComparisonExpressionRef( |
| AddExpressionToGraph(Expression::CreateLogicalNegation(x.id))); |
| } |
| |
| } // namespace internal |
| } // namespace ceres |