NULL -> nullptr Change-Id: Iaeea2ef7912d328653a76b65976adc8025a5be35
diff --git a/internal/ceres/line_search_minimizer.cc b/internal/ceres/line_search_minimizer.cc index f57c047..931f56c 100644 --- a/internal/ceres/line_search_minimizer.cc +++ b/internal/ceres/line_search_minimizer.cc
@@ -118,9 +118,9 @@ // Do initial cost and gradient evaluation. if (!evaluator->Evaluate(x.data(), &(current_state.cost), - NULL, + nullptr, current_state.gradient.data(), - NULL)) { + nullptr)) { summary->termination_type = FAILURE; summary->message = "Initial cost and jacobian evaluation failed."; LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message; @@ -193,7 +193,7 @@ line_search(LineSearch::Create(options.line_search_type, line_search_options, &summary->message)); - if (line_search.get() == NULL) { + if (line_search.get() == nullptr) { summary->termination_type = FAILURE; LOG_IF(ERROR, is_not_silent) << "Terminating: " << summary->message; return; @@ -338,9 +338,9 @@ if (!evaluator->Evaluate(evaluate_options, optimal_point.vector_x.data(), &(current_state.cost), - NULL, + nullptr, current_state.gradient.data(), - NULL)) { + nullptr)) { summary->termination_type = FAILURE; summary->message = "Cost and jacobian evaluation failed."; LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
diff --git a/internal/ceres/program_evaluator.h b/internal/ceres/program_evaluator.h index 4e174eb..5daface 100644 --- a/internal/ceres/program_evaluator.h +++ b/internal/ceres/program_evaluator.h
@@ -104,12 +104,12 @@ void operator()(SparseMatrix* jacobian, int num_parameters) {} }; -template<typename EvaluatePreparer, - typename JacobianWriter, - typename JacobianFinalizer = NullJacobianFinalizer> +template <typename EvaluatePreparer, + typename JacobianWriter, + typename JacobianFinalizer = NullJacobianFinalizer> class ProgramEvaluator : public Evaluator { public: - ProgramEvaluator(const Evaluator::Options &options, Program* program) + ProgramEvaluator(const Evaluator::Options& options, Program* program) : options_(options), program_(program), jacobian_writer_(options, program), @@ -117,17 +117,16 @@ jacobian_writer_.CreateEvaluatePreparers(options.num_threads)) { #ifdef CERES_NO_THREADS if (options_.num_threads > 1) { - LOG(WARNING) - << "No threading support is compiled into this binary; " - << "only options.num_threads = 1 is supported. Switching " - << "to single threaded mode."; + LOG(WARNING) << "No threading support is compiled into this binary; " + << "only options.num_threads = 1 is supported. Switching " + << "to single threaded mode."; options_.num_threads = 1; } -#endif // CERES_NO_THREADS +#endif // CERES_NO_THREADS BuildResidualLayout(*program, &residual_layout_); - evaluate_scratch_.reset(CreateEvaluatorScratch(*program, - options.num_threads)); + evaluate_scratch_.reset( + CreateEvaluatorScratch(*program, options.num_threads)); } // Implementation of Evaluator interface. @@ -142,10 +141,10 @@ double* gradient, SparseMatrix* jacobian) final { ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_); - ScopedExecutionTimer call_type_timer(gradient == NULL && jacobian == NULL - ? "Evaluator::Residual" - : "Evaluator::Jacobian", - &execution_summary_); + ScopedExecutionTimer call_type_timer( + gradient == nullptr && jacobian == nullptr ? "Evaluator::Residual" + : "Evaluator::Jacobian", + &execution_summary_); // The parameters are stateful, so set the state before evaluating. if (!program_->StateVectorToParameterBlocks(state)) { @@ -153,27 +152,28 @@ } // Notify the user about a new evaluation point if they are interested. - if (options_.evaluation_callback != NULL) { + if (options_.evaluation_callback != nullptr) { program_->CopyParameterBlockStateToUserState(); options_.evaluation_callback->PrepareForEvaluation( - /*jacobians=*/(gradient != NULL || jacobian != NULL), + /*jacobians=*/(gradient != nullptr || jacobian != nullptr), evaluate_options.new_evaluation_point); } - if (residuals != NULL) { + if (residuals != nullptr) { VectorRef(residuals, program_->NumResiduals()).setZero(); } - if (jacobian != NULL) { + if (jacobian != nullptr) { jacobian->SetZero(); } // Each thread gets it's own cost and evaluate scratch space. for (int i = 0; i < options_.num_threads; ++i) { evaluate_scratch_[i].cost = 0.0; - if (gradient != NULL) { + if (gradient != nullptr) { VectorRef(evaluate_scratch_[i].gradient.get(), - program_->NumEffectiveParameters()).setZero(); + program_->NumEffectiveParameters()) + .setZero(); } } @@ -197,16 +197,16 @@ // Prepare block residuals if requested. const ResidualBlock* residual_block = program_->residual_blocks()[i]; - double* block_residuals = NULL; - if (residuals != NULL) { + double* block_residuals = nullptr; + if (residuals != nullptr) { block_residuals = residuals + residual_layout_[i]; - } else if (gradient != NULL) { + } else if (gradient != nullptr) { block_residuals = scratch->residual_block_residuals.get(); } // Prepare block jacobians if requested. - double** block_jacobians = NULL; - if (jacobian != NULL || gradient != NULL) { + double** block_jacobians = nullptr; + if (jacobian != nullptr || gradient != nullptr) { preparer->Prepare(residual_block, i, jacobian, @@ -229,15 +229,13 @@ scratch->cost += block_cost; // Store the jacobians, if they were requested. - if (jacobian != NULL) { - jacobian_writer_.Write(i, - residual_layout_[i], - block_jacobians, - jacobian); + if (jacobian != nullptr) { + jacobian_writer_.Write( + i, residual_layout_[i], block_jacobians, jacobian); } // Compute and store the gradient, if it was requested. - if (gradient != NULL) { + if (gradient != nullptr) { int num_residuals = residual_block->NumResiduals(); int num_parameter_blocks = residual_block->NumParameterBlocks(); for (int j = 0; j < num_parameter_blocks; ++j) { @@ -262,12 +260,12 @@ // Sum the cost and gradient (if requested) from each thread. (*cost) = 0.0; - if (gradient != NULL) { + if (gradient != nullptr) { VectorRef(gradient, num_parameters).setZero(); } for (int i = 0; i < options_.num_threads; ++i) { (*cost) += evaluate_scratch_[i].cost; - if (gradient != NULL) { + if (gradient != nullptr) { VectorRef(gradient, num_parameters) += VectorRef(evaluate_scratch_[i].gradient.get(), num_parameters); } @@ -277,7 +275,7 @@ // `num_parameters` is passed to the finalizer so that additional // storage can be reserved for additional diagonal elements if // necessary. - if (jacobian != NULL) { + if (jacobian != nullptr) { JacobianFinalizer f; f(jacobian, num_parameters); } @@ -291,16 +289,12 @@ return program_->Plus(state, delta, state_plus_delta); } - int NumParameters() const final { - return program_->NumParameters(); - } + int NumParameters() const final { return program_->NumParameters(); } int NumEffectiveParameters() const final { return program_->NumEffectiveParameters(); } - int NumResiduals() const final { - return program_->NumResiduals(); - } + int NumResiduals() const final { return program_->NumResiduals(); } std::map<std::string, CallStatistics> Statistics() const final { return execution_summary_.statistics(); @@ -319,8 +313,7 @@ VectorRef(gradient.get(), num_parameters).setZero(); residual_block_residuals.reset( new double[max_residuals_per_residual_block]); - jacobian_block_ptrs.reset( - new double*[max_parameters_per_residual_block]); + jacobian_block_ptrs.reset(new double*[max_parameters_per_residual_block]); } double cost;
diff --git a/internal/ceres/trust_region_minimizer.cc b/internal/ceres/trust_region_minimizer.cc index aacd991..7065977 100644 --- a/internal/ceres/trust_region_minimizer.cc +++ b/internal/ceres/trust_region_minimizer.cc
@@ -34,8 +34,8 @@ #include <cmath> #include <cstdlib> #include <cstring> -#include <memory> #include <limits> +#include <memory> #include <string> #include <vector> @@ -146,7 +146,7 @@ is_not_silent_ = !options.is_silent; inner_iterations_are_enabled_ = - options.inner_iteration_minimizer.get() != NULL; + options.inner_iteration_minimizer.get() != nullptr; inner_iterations_were_useful_ = false; num_parameters_ = evaluator_->NumParameters(); @@ -491,8 +491,11 @@ options_.inner_iteration_minimizer->Minimize( options_, inner_iteration_x_.data(), &inner_iteration_summary); double inner_iteration_cost; - if (!evaluator_->Evaluate( - inner_iteration_x_.data(), &inner_iteration_cost, NULL, NULL, NULL)) { + if (!evaluator_->Evaluate(inner_iteration_x_.data(), + &inner_iteration_cost, + nullptr, + nullptr, + nullptr)) { VLOG_IF(2, is_not_silent_) << "Inner iteration failed."; return; } @@ -610,10 +613,11 @@ return false; } - solver_summary_->message = StringPrintf("Maximum solver time reached. " - "Total solver time: %e >= %e.", - total_solver_time, - options_.max_solver_time_in_seconds); + solver_summary_->message = StringPrintf( + "Maximum solver time reached. " + "Total solver time: %e >= %e.", + total_solver_time, + options_.max_solver_time_in_seconds); solver_summary_->termination_type = NO_CONVERGENCE; VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message; return true; @@ -627,10 +631,10 @@ return false; } - solver_summary_->message = - StringPrintf("Maximum number of iterations reached. " - "Number of iterations: %d.", - iteration_summary_.iteration); + solver_summary_->message = StringPrintf( + "Maximum number of iterations reached. " + "Number of iterations: %d.", + iteration_summary_.iteration); solver_summary_->termination_type = NO_CONVERGENCE; VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message; @@ -662,11 +666,11 @@ return false; } - solver_summary_->message = - StringPrintf("Minimum trust region radius reached. " - "Trust region radius: %e <= %e", - iteration_summary_.trust_region_radius, - options_.min_trust_region_radius); + solver_summary_->message = StringPrintf( + "Minimum trust region radius reached. " + "Trust region radius: %e <= %e", + iteration_summary_.trust_region_radius, + options_.min_trust_region_radius); solver_summary_->termination_type = CONVERGENCE; VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message; return true; @@ -734,7 +738,7 @@ } if (!evaluator_->Evaluate( - candidate_x_.data(), &candidate_cost_, NULL, NULL, NULL)) { + candidate_x_.data(), &candidate_cost_, nullptr, nullptr, nullptr)) { LOG_IF(WARNING, is_not_silent_) << "Step failed to evaluate. " << "Treating it as a step with infinite cost";