Run clang-format on jet.h
Change-Id: Ib865eecaa468330483b40244d62d432b40560712
diff --git a/include/ceres/jet.h b/include/ceres/jet.h
index c5e4ac7..8d83563 100644
--- a/include/ceres/jet.h
+++ b/include/ceres/jet.h
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
@@ -178,9 +178,7 @@
// (where T is a Jet<T, N>). This usually only happens in opt mode. Note that
// the C++ standard mandates that e.g. default constructed doubles are
// initialized to 0.0; see sections 8.5 of the C++03 standard.
- Jet() : a() {
- v.setZero();
- }
+ Jet() : a() { v.setZero(); }
// Constructor from scalar: a + 0.
explicit Jet(const T& value) {
@@ -199,28 +197,27 @@
// The use of Eigen::DenseBase allows Eigen expressions
// to be passed in without being fully evaluated until
// they are assigned to v
- template<typename Derived>
- EIGEN_STRONG_INLINE Jet(const T& a, const Eigen::DenseBase<Derived> &v)
- : a(a), v(v) {
- }
+ template <typename Derived>
+ EIGEN_STRONG_INLINE Jet(const T& a, const Eigen::DenseBase<Derived>& v)
+ : a(a), v(v) {}
// Compound operators
- Jet<T, N>& operator+=(const Jet<T, N> &y) {
+ Jet<T, N>& operator+=(const Jet<T, N>& y) {
*this = *this + y;
return *this;
}
- Jet<T, N>& operator-=(const Jet<T, N> &y) {
+ Jet<T, N>& operator-=(const Jet<T, N>& y) {
*this = *this - y;
return *this;
}
- Jet<T, N>& operator*=(const Jet<T, N> &y) {
+ Jet<T, N>& operator*=(const Jet<T, N>& y) {
*this = *this * y;
return *this;
}
- Jet<T, N>& operator/=(const Jet<T, N> &y) {
+ Jet<T, N>& operator/=(const Jet<T, N>& y) {
*this = *this / y;
return *this;
}
@@ -258,8 +255,8 @@
};
// Unary +
-template<typename T, int N> inline
-Jet<T, N> const& operator+(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> const& operator+(const Jet<T, N>& f) {
return f;
}
@@ -267,72 +264,68 @@
// see if it causes a performance increase.
// Unary -
-template<typename T, int N> inline
-Jet<T, N> operator-(const Jet<T, N>&f) {
+template <typename T, int N>
+inline Jet<T, N> operator-(const Jet<T, N>& f) {
return Jet<T, N>(-f.a, -f.v);
}
// Binary +
-template<typename T, int N> inline
-Jet<T, N> operator+(const Jet<T, N>& f,
- const Jet<T, N>& g) {
+template <typename T, int N>
+inline Jet<T, N> operator+(const Jet<T, N>& f, const Jet<T, N>& g) {
return Jet<T, N>(f.a + g.a, f.v + g.v);
}
// Binary + with a scalar: x + s
-template<typename T, int N> inline
-Jet<T, N> operator+(const Jet<T, N>& f, T s) {
+template <typename T, int N>
+inline Jet<T, N> operator+(const Jet<T, N>& f, T s) {
return Jet<T, N>(f.a + s, f.v);
}
// Binary + with a scalar: s + x
-template<typename T, int N> inline
-Jet<T, N> operator+(T s, const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> operator+(T s, const Jet<T, N>& f) {
return Jet<T, N>(f.a + s, f.v);
}
// Binary -
-template<typename T, int N> inline
-Jet<T, N> operator-(const Jet<T, N>& f,
- const Jet<T, N>& g) {
+template <typename T, int N>
+inline Jet<T, N> operator-(const Jet<T, N>& f, const Jet<T, N>& g) {
return Jet<T, N>(f.a - g.a, f.v - g.v);
}
// Binary - with a scalar: x - s
-template<typename T, int N> inline
-Jet<T, N> operator-(const Jet<T, N>& f, T s) {
+template <typename T, int N>
+inline Jet<T, N> operator-(const Jet<T, N>& f, T s) {
return Jet<T, N>(f.a - s, f.v);
}
// Binary - with a scalar: s - x
-template<typename T, int N> inline
-Jet<T, N> operator-(T s, const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> operator-(T s, const Jet<T, N>& f) {
return Jet<T, N>(s - f.a, -f.v);
}
// Binary *
-template<typename T, int N> inline
-Jet<T, N> operator*(const Jet<T, N>& f,
- const Jet<T, N>& g) {
+template <typename T, int N>
+inline Jet<T, N> operator*(const Jet<T, N>& f, const Jet<T, N>& g) {
return Jet<T, N>(f.a * g.a, f.a * g.v + f.v * g.a);
}
// Binary * with a scalar: x * s
-template<typename T, int N> inline
-Jet<T, N> operator*(const Jet<T, N>& f, T s) {
+template <typename T, int N>
+inline Jet<T, N> operator*(const Jet<T, N>& f, T s) {
return Jet<T, N>(f.a * s, f.v * s);
}
// Binary * with a scalar: s * x
-template<typename T, int N> inline
-Jet<T, N> operator*(T s, const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> operator*(T s, const Jet<T, N>& f) {
return Jet<T, N>(f.a * s, f.v * s);
}
// Binary /
-template<typename T, int N> inline
-Jet<T, N> operator/(const Jet<T, N>& f,
- const Jet<T, N>& g) {
+template <typename T, int N>
+inline Jet<T, N> operator/(const Jet<T, N>& f, const Jet<T, N>& g) {
// This uses:
//
// a + u (a + u)(b - v) (a + u)(b - v)
@@ -346,39 +339,39 @@
}
// Binary / with a scalar: s / x
-template<typename T, int N> inline
-Jet<T, N> operator/(T s, const Jet<T, N>& g) {
+template <typename T, int N>
+inline Jet<T, N> operator/(T s, const Jet<T, N>& g) {
const T minus_s_g_a_inverse2 = -s / (g.a * g.a);
return Jet<T, N>(s / g.a, g.v * minus_s_g_a_inverse2);
}
// Binary / with a scalar: x / s
-template<typename T, int N> inline
-Jet<T, N> operator/(const Jet<T, N>& f, T s) {
+template <typename T, int N>
+inline Jet<T, N> operator/(const Jet<T, N>& f, T s) {
const T s_inverse = T(1.0) / s;
return Jet<T, N>(f.a * s_inverse, f.v * s_inverse);
}
// Binary comparison operators for both scalars and jets.
-#define CERES_DEFINE_JET_COMPARISON_OPERATOR(op) \
-template<typename T, int N> inline \
-bool operator op(const Jet<T, N>& f, const Jet<T, N>& g) { \
- return f.a op g.a; \
-} \
-template<typename T, int N> inline \
-bool operator op(const T& s, const Jet<T, N>& g) { \
- return s op g.a; \
-} \
-template<typename T, int N> inline \
-bool operator op(const Jet<T, N>& f, const T& s) { \
- return f.a op s; \
-}
-CERES_DEFINE_JET_COMPARISON_OPERATOR( < ) // NOLINT
-CERES_DEFINE_JET_COMPARISON_OPERATOR( <= ) // NOLINT
-CERES_DEFINE_JET_COMPARISON_OPERATOR( > ) // NOLINT
-CERES_DEFINE_JET_COMPARISON_OPERATOR( >= ) // NOLINT
-CERES_DEFINE_JET_COMPARISON_OPERATOR( == ) // NOLINT
-CERES_DEFINE_JET_COMPARISON_OPERATOR( != ) // NOLINT
+#define CERES_DEFINE_JET_COMPARISON_OPERATOR(op) \
+ template <typename T, int N> \
+ inline bool operator op(const Jet<T, N>& f, const Jet<T, N>& g) { \
+ return f.a op g.a; \
+ } \
+ template <typename T, int N> \
+ inline bool operator op(const T& s, const Jet<T, N>& g) { \
+ return s op g.a; \
+ } \
+ template <typename T, int N> \
+ inline bool operator op(const Jet<T, N>& f, const T& s) { \
+ return f.a op s; \
+ }
+CERES_DEFINE_JET_COMPARISON_OPERATOR(<) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR(<=) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR(>) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR(>=) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR(==) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR(!=) // NOLINT
#undef CERES_DEFINE_JET_COMPARISON_OPERATOR
// Pull some functions from namespace std.
@@ -415,97 +408,99 @@
using std::tanh;
// Legacy names from pre-C++11 days.
-inline bool IsFinite (double x) { return std::isfinite(x); }
+// clang-format off
+inline bool IsFinite(double x) { return std::isfinite(x); }
inline bool IsInfinite(double x) { return std::isinf(x); }
-inline bool IsNaN (double x) { return std::isnan(x); }
-inline bool IsNormal (double x) { return std::isnormal(x); }
+inline bool IsNaN(double x) { return std::isnan(x); }
+inline bool IsNormal(double x) { return std::isnormal(x); }
+// clang-format on
// In general, f(a + h) ~= f(a) + f'(a) h, via the chain rule.
// abs(x + h) ~= x + h or -(x + h)
-template <typename T, int N> inline
-Jet<T, N> abs(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> abs(const Jet<T, N>& f) {
return f.a < T(0.0) ? -f : f;
}
// log(a + h) ~= log(a) + h / a
-template <typename T, int N> inline
-Jet<T, N> log(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> log(const Jet<T, N>& f) {
const T a_inverse = T(1.0) / f.a;
return Jet<T, N>(log(f.a), f.v * a_inverse);
}
// exp(a + h) ~= exp(a) + exp(a) h
-template <typename T, int N> inline
-Jet<T, N> exp(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> exp(const Jet<T, N>& f) {
const T tmp = exp(f.a);
return Jet<T, N>(tmp, tmp * f.v);
}
// sqrt(a + h) ~= sqrt(a) + h / (2 sqrt(a))
-template <typename T, int N> inline
-Jet<T, N> sqrt(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> sqrt(const Jet<T, N>& f) {
const T tmp = sqrt(f.a);
const T two_a_inverse = T(1.0) / (T(2.0) * tmp);
return Jet<T, N>(tmp, f.v * two_a_inverse);
}
// cos(a + h) ~= cos(a) - sin(a) h
-template <typename T, int N> inline
-Jet<T, N> cos(const Jet<T, N>& f) {
- return Jet<T, N>(cos(f.a), - sin(f.a) * f.v);
+template <typename T, int N>
+inline Jet<T, N> cos(const Jet<T, N>& f) {
+ return Jet<T, N>(cos(f.a), -sin(f.a) * f.v);
}
// acos(a + h) ~= acos(a) - 1 / sqrt(1 - a^2) h
-template <typename T, int N> inline
-Jet<T, N> acos(const Jet<T, N>& f) {
- const T tmp = - T(1.0) / sqrt(T(1.0) - f.a * f.a);
+template <typename T, int N>
+inline Jet<T, N> acos(const Jet<T, N>& f) {
+ const T tmp = -T(1.0) / sqrt(T(1.0) - f.a * f.a);
return Jet<T, N>(acos(f.a), tmp * f.v);
}
// sin(a + h) ~= sin(a) + cos(a) h
-template <typename T, int N> inline
-Jet<T, N> sin(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> sin(const Jet<T, N>& f) {
return Jet<T, N>(sin(f.a), cos(f.a) * f.v);
}
// asin(a + h) ~= asin(a) + 1 / sqrt(1 - a^2) h
-template <typename T, int N> inline
-Jet<T, N> asin(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> asin(const Jet<T, N>& f) {
const T tmp = T(1.0) / sqrt(T(1.0) - f.a * f.a);
return Jet<T, N>(asin(f.a), tmp * f.v);
}
// tan(a + h) ~= tan(a) + (1 + tan(a)^2) h
-template <typename T, int N> inline
-Jet<T, N> tan(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> tan(const Jet<T, N>& f) {
const T tan_a = tan(f.a);
const T tmp = T(1.0) + tan_a * tan_a;
return Jet<T, N>(tan_a, tmp * f.v);
}
// atan(a + h) ~= atan(a) + 1 / (1 + a^2) h
-template <typename T, int N> inline
-Jet<T, N> atan(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> atan(const Jet<T, N>& f) {
const T tmp = T(1.0) / (T(1.0) + f.a * f.a);
return Jet<T, N>(atan(f.a), tmp * f.v);
}
// sinh(a + h) ~= sinh(a) + cosh(a) h
-template <typename T, int N> inline
-Jet<T, N> sinh(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> sinh(const Jet<T, N>& f) {
return Jet<T, N>(sinh(f.a), cosh(f.a) * f.v);
}
// cosh(a + h) ~= cosh(a) + sinh(a) h
-template <typename T, int N> inline
-Jet<T, N> cosh(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> cosh(const Jet<T, N>& f) {
return Jet<T, N>(cosh(f.a), sinh(f.a) * f.v);
}
// tanh(a + h) ~= tanh(a) + (1 - tanh(a)^2) h
-template <typename T, int N> inline
-Jet<T, N> tanh(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> tanh(const Jet<T, N>& f) {
const T tanh_a = tanh(f.a);
const T tmp = T(1.0) - tanh_a * tanh_a;
return Jet<T, N>(tanh_a, tmp * f.v);
@@ -515,8 +510,8 @@
// result in a zero derivative which provides no information to the solver.
//
// floor(a + h) ~= floor(a) + 0
-template <typename T, int N> inline
-Jet<T, N> floor(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> floor(const Jet<T, N>& f) {
return Jet<T, N>(floor(f.a));
}
@@ -524,31 +519,31 @@
// result in a zero derivative which provides no information to the solver.
//
// ceil(a + h) ~= ceil(a) + 0
-template <typename T, int N> inline
-Jet<T, N> ceil(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> ceil(const Jet<T, N>& f) {
return Jet<T, N>(ceil(f.a));
}
// Some new additions to C++11:
// cbrt(a + h) ~= cbrt(a) + h / (3 a ^ (2/3))
-template <typename T, int N> inline
-Jet<T, N> cbrt(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> cbrt(const Jet<T, N>& f) {
const T derivative = T(1.0) / (T(3.0) * cbrt(f.a * f.a));
return Jet<T, N>(cbrt(f.a), f.v * derivative);
}
// exp2(x + h) = 2^(x+h) ~= 2^x + h*2^x*log(2)
-template <typename T, int N> inline
-Jet<T, N> exp2(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> exp2(const Jet<T, N>& f) {
const T tmp = exp2(f.a);
const T derivative = tmp * log(T(2));
return Jet<T, N>(tmp, f.v * derivative);
}
// log2(x + h) ~= log2(x) + h / (x * log(2))
-template <typename T, int N> inline
-Jet<T, N> log2(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> log2(const Jet<T, N>& f) {
const T derivative = T(1.0) / (f.a * log(T(2)));
return Jet<T, N>(log2(f.a), f.v * derivative);
}
@@ -557,8 +552,8 @@
// but acts to prevent underflow/overflow for small/large x/y.
// Note that the function is non-smooth at x=y=0,
// so the derivative is undefined there.
-template <typename T, int N> inline
-Jet<T, N> hypot(const Jet<T, N>& x, const Jet<T, N>& y) {
+template <typename T, int N>
+inline Jet<T, N> hypot(const Jet<T, N>& x, const Jet<T, N>& y) {
// d/da sqrt(a) = 0.5 / sqrt(a)
// d/dx x^2 + y^2 = 2x
// So by the chain rule:
@@ -568,13 +563,13 @@
return Jet<T, N>(tmp, x.a / tmp * x.v + y.a / tmp * y.v);
}
-template <typename T, int N> inline
-const Jet<T, N>& fmax(const Jet<T, N>& x, const Jet<T, N>& y) {
+template <typename T, int N>
+inline const Jet<T, N>& fmax(const Jet<T, N>& x, const Jet<T, N>& y) {
return x < y ? y : x;
}
-template <typename T, int N> inline
-const Jet<T, N>& fmin(const Jet<T, N>& x, const Jet<T, N>& y) {
+template <typename T, int N>
+inline const Jet<T, N>& fmin(const Jet<T, N>& x, const Jet<T, N>& y) {
return y < x ? y : x;
}
@@ -614,32 +609,32 @@
// See formula http://dlmf.nist.gov/10.6#E3
// j0(a + h) ~= j0(a) - j1(a) h
-template <typename T, int N> inline
-Jet<T, N> BesselJ0(const Jet<T, N>& f) {
- return Jet<T, N>(BesselJ0(f.a),
- -BesselJ1(f.a) * f.v);
+template <typename T, int N>
+inline Jet<T, N> BesselJ0(const Jet<T, N>& f) {
+ return Jet<T, N>(BesselJ0(f.a), -BesselJ1(f.a) * f.v);
}
// See formula http://dlmf.nist.gov/10.6#E1
// j1(a + h) ~= j1(a) + 0.5 ( j0(a) - j2(a) ) h
-template <typename T, int N> inline
-Jet<T, N> BesselJ1(const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> BesselJ1(const Jet<T, N>& f) {
return Jet<T, N>(BesselJ1(f.a),
T(0.5) * (BesselJ0(f.a) - BesselJn(2, f.a)) * f.v);
}
// See formula http://dlmf.nist.gov/10.6#E1
// j_n(a + h) ~= j_n(a) + 0.5 ( j_{n-1}(a) - j_{n+1}(a) ) h
-template <typename T, int N> inline
-Jet<T, N> BesselJn(int n, const Jet<T, N>& f) {
- return Jet<T, N>(BesselJn(n, f.a),
- T(0.5) * (BesselJn(n - 1, f.a) - BesselJn(n + 1, f.a)) * f.v);
+template <typename T, int N>
+inline Jet<T, N> BesselJn(int n, const Jet<T, N>& f) {
+ return Jet<T, N>(
+ BesselJn(n, f.a),
+ T(0.5) * (BesselJn(n - 1, f.a) - BesselJn(n + 1, f.a)) * f.v);
}
// Jet Classification. It is not clear what the appropriate semantics are for
-// these classifications. This picks that std::isfinite and std::isnormal are "all"
-// operations, i.e. all elements of the jet must be finite for the jet itself
-// to be finite (or normal). For IsNaN and IsInfinite, the answer is less
+// these classifications. This picks that std::isfinite and std::isnormal are
+// "all" operations, i.e. all elements of the jet must be finite for the jet
+// itself to be finite (or normal). For IsNaN and IsInfinite, the answer is less
// clear. This takes a "any" approach for IsNaN and IsInfinite such that if any
// part of a jet is nan or inf, then the entire jet is nan or inf. This leads
// to strange situations like a jet can be both IsInfinite and IsNaN, but in
@@ -647,8 +642,8 @@
// derivatives are sane.
// The jet is finite if all parts of the jet are finite.
-template <typename T, int N> inline
-bool isfinite(const Jet<T, N>& f) {
+template <typename T, int N>
+inline bool isfinite(const Jet<T, N>& f) {
if (!std::isfinite(f.a)) {
return false;
}
@@ -661,8 +656,8 @@
}
// The jet is infinite if any part of the Jet is infinite.
-template <typename T, int N> inline
-bool isinf(const Jet<T, N>& f) {
+template <typename T, int N>
+inline bool isinf(const Jet<T, N>& f) {
if (std::isinf(f.a)) {
return true;
}
@@ -674,10 +669,9 @@
return false;
}
-
// The jet is NaN if any part of the jet is NaN.
-template <typename T, int N> inline
-bool isnan(const Jet<T, N>& f) {
+template <typename T, int N>
+inline bool isnan(const Jet<T, N>& f) {
if (std::isnan(f.a)) {
return true;
}
@@ -690,8 +684,8 @@
}
// The jet is normal if all parts of the jet are normal.
-template <typename T, int N> inline
-bool isnormal(const Jet<T, N>& f) {
+template <typename T, int N>
+inline bool isnormal(const Jet<T, N>& f) {
if (!std::isnormal(f.a)) {
return false;
}
@@ -720,8 +714,8 @@
}
// The jet is infinite if any part of the jet is infinite.
-template <typename T, int N> inline
-bool IsInfinite(const Jet<T, N>& f) {
+template <typename T, int N>
+inline bool IsInfinite(const Jet<T, N>& f) {
return isinf(f);
}
@@ -729,22 +723,21 @@
//
// In words: the rate of change of theta is 1/r times the rate of
// change of (x, y) in the positive angular direction.
-template <typename T, int N> inline
-Jet<T, N> atan2(const Jet<T, N>& g, const Jet<T, N>& f) {
+template <typename T, int N>
+inline Jet<T, N> atan2(const Jet<T, N>& g, const Jet<T, N>& f) {
// Note order of arguments:
//
// f = a + da
// g = b + db
T const tmp = T(1.0) / (f.a * f.a + g.a * g.a);
- return Jet<T, N>(atan2(g.a, f.a), tmp * (- g.a * f.v + f.a * g.v));
+ return Jet<T, N>(atan2(g.a, f.a), tmp * (-g.a * f.v + f.a * g.v));
}
-
// pow -- base is a differentiable function, exponent is a constant.
// (a+da)^p ~= a^p + p*a^(p-1) da
-template <typename T, int N> inline
-Jet<T, N> pow(const Jet<T, N>& f, double g) {
+template <typename T, int N>
+inline Jet<T, N> pow(const Jet<T, N>& f, double g) {
T const tmp = g * pow(f.a, g - T(1.0));
return Jet<T, N>(pow(f.a, g), tmp * f.v);
}
@@ -760,8 +753,8 @@
// 3. For f < 0 and integer g we have: (f)^(g + dg) ~= f^g but if dg
// != 0, the derivatives are not defined and we return NaN.
-template <typename T, int N> inline
-Jet<T, N> pow(double f, const Jet<T, N>& g) {
+template <typename T, int N>
+inline Jet<T, N> pow(double f, const Jet<T, N>& g) {
if (f == 0 && g.a > 0) {
// Handle case 2.
return Jet<T, N>(T(0.0));
@@ -818,8 +811,8 @@
//
// 9. For f < 0, g noninteger: The value and derivatives of f^g are not finite.
-template <typename T, int N> inline
-Jet<T, N> pow(const Jet<T, N>& f, const Jet<T, N>& g) {
+template <typename T, int N>
+inline Jet<T, N> pow(const Jet<T, N>& f, const Jet<T, N>& g) {
if (f.a == 0 && g.a >= 1) {
// Handle cases 2 and 3.
if (g.a > 1) {
@@ -852,7 +845,7 @@
// function correctly. Otherwise statements like CHECK_LE(x, 2.0) fail with
// strange compile errors.
template <typename T, int N>
-inline std::ostream &operator<<(std::ostream &s, const Jet<T, N>& z) {
+inline std::ostream& operator<<(std::ostream& s, const Jet<T, N>& z) {
s << "[" << z.a << " ; ";
for (int i = 0; i < N; ++i) {
s << z.v[i];
@@ -870,7 +863,7 @@
// Creating a specialization of NumTraits enables placing Jet objects inside
// Eigen arrays, getting all the goodness of Eigen combined with autodiff.
-template<typename T, int N>
+template <typename T, int N>
struct NumTraits<ceres::Jet<T, N>> {
typedef ceres::Jet<T, N> Real;
typedef ceres::Jet<T, N> NonInteger;
@@ -899,7 +892,7 @@
RequireInitialization = 1
};
- template<bool Vectorized>
+ template <bool Vectorized>
struct Div {
enum {
#if defined(EIGEN_VECTORIZE_AVX)
