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";
