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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2019 Google Inc. All rights reserved.
// http://ceres-solver.org/
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// Author: keir@google.com (Keir Mierle)
//
// A convenience class for cost functions which are statically sized.
// Compared to the dynamically-sized base class, this reduces boilerplate.
//
// The kNumResiduals template parameter can be a constant such as 2 or 5, or it
// can be ceres::DYNAMIC. If kNumResiduals is ceres::DYNAMIC, then subclasses
// are responsible for calling set_num_residuals() at runtime.
#ifndef CERES_PUBLIC_SIZED_COST_FUNCTION_H_
#define CERES_PUBLIC_SIZED_COST_FUNCTION_H_
#include "ceres/cost_function.h"
#include "ceres/types.h"
#include "glog/logging.h"
#include "internal/parameter_dims.h"
namespace ceres {
template <int kNumResiduals, int... Ns>
class SizedCostFunction : public CostFunction {
public:
static_assert(kNumResiduals > 0 || kNumResiduals == DYNAMIC,
"Cost functions must have at least one residual block.");
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...>;
SizedCostFunction() {
set_num_residuals(kNumResiduals);
*mutable_parameter_block_sizes() = std::vector<int32_t>{Ns...};
}
// Subclasses must implement Evaluate().
};
} // namespace ceres
#endif // CERES_PUBLIC_SIZED_COST_FUNCTION_H_