| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2019 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // 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: 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_ |