| // 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) |
| // |
| #ifndef CERES_PUBLIC_CODEGEN_INTERNAL_TYPES_H_ |
| #define CERES_PUBLIC_CODEGEN_INTERNAL_TYPES_H_ |
| |
| #include "ceres/codegen/macros.h" |
| |
| namespace ceres { |
| // The return type of a comparison, for example from <, &&, ==. |
| // |
| // In the context of traditional Ceres Jet operations, this would |
| // always be a bool. However, in the autodiff code generation context, |
| // the return is always an expression, and so a different type must be |
| // used as a return from comparisons. |
| // |
| // In the autodiff codegen context, this function is overloaded so that 'type' |
| // is one of the autodiff code generation expression types. |
| template <typename T> |
| struct ComparisonReturnType { |
| using type = bool; |
| }; |
| |
| namespace internal { |
| // The InputAssignment struct is used to implement the CERES_LOCAL_VARIABLE |
| // macro defined in macros.h. The input is a double variable and the |
| // corresponding name as a string. During execution mode (T==double or |
| // T==Jet<double>) the variable name is unused and this function only returns |
| // the value. During code generation (T==ExpressionRef) the value is unused and |
| // an assignment expression is created. For example: |
| // v_0 = observed_x; |
| template <typename T> |
| struct InputAssignment { |
| static inline T Get(double v, const char* /* unused */) { return v; } |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_PUBLIC_CODEGEN_INTERNAL_TYPES_H_ |