Lint and other fixes from William Rucklidge
Change-Id: Ic18561a5cdadccc75e97818fa4422bb5d9d43df9
diff --git a/docs/source/modeling.rst b/docs/source/modeling.rst
index 93098f1..95832b1 100644
--- a/docs/source/modeling.rst
+++ b/docs/source/modeling.rst
@@ -350,10 +350,10 @@
: public SizedCostFunction<M, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> {
};
- To get an numerically differentiated :class:`CostFunction`, you
- must define a class with a ``operator()`` (a functor) that computes
- the residuals. The functor must write the computed value in the
- last argument (the only non-``const`` one) and return ``true`` to
+ To get a numerically differentiated :class:`CostFunction`, you must
+ define a class with a ``operator()`` (a functor) that computes the
+ residuals. The functor must write the computed value in the last
+ argument (the only non-``const`` one) and return ``true`` to
indicate success. Please see :class:`CostFunction` for details on
how the return value may be used to impose simple constraints on
the parameter block. e.g., an object of the form
diff --git a/docs/source/solving.rst b/docs/source/solving.rst
index c992c5b..9b26166 100644
--- a/docs/source/solving.rst
+++ b/docs/source/solving.rst
@@ -1022,7 +1022,7 @@
1. Compute the Jacobian matrix in some order and then have the
factorization algorithm permute the columns of the Jacobian.
- 2. Compute the Jacobian with it's columns already permuted.
+ 2. Compute the Jacobian with its columns already permuted.
The first option incurs a significant memory penalty. The
factorization algorithm has to make a copy of the permuted Jacobian
@@ -1314,7 +1314,8 @@
.. class:: IterationSummary
:class:`IterationSummary` describes the state of the optimizer
- after each iteration of the minimization.
+ after each iteration of the minimization. Note that all times are
+ wall times.
.. code-block:: c++
@@ -1524,6 +1525,8 @@
.. class:: Solver::Summary
+ Note that all times reported in this struct are wall times.
+
.. code-block:: c++
struct Summary {
diff --git a/docs/source/tutorial.rst b/docs/source/tutorial.rst
index 3329927..da63e9e 100644
--- a/docs/source/tutorial.rst
+++ b/docs/source/tutorial.rst
@@ -244,7 +244,7 @@
residuals[0] = 10 - x;
// Compute the Jacobian if asked for.
- if (jacobians != NULL) {
+ if (jacobians != NULL && jacobians[0] != NULL) {
jacobians[0][0] = -1;
}
return true;
diff --git a/docs/source/version_history.rst b/docs/source/version_history.rst
index a83d098..11e1e46 100644
--- a/docs/source/version_history.rst
+++ b/docs/source/version_history.rst
@@ -31,7 +31,7 @@
#. Enabling -O4 (link-time optimization) only if compiler/linker support it. (Alex Stewart)
#. Consistent glog path across files.
#. ceres-solver.spec: Use cleaner, more conventional Release string (Taylor Braun-Jones)
-#. Fix compile bug on RHEL6 due to missing header (Taylor Braun-Jones 3 weeks ago)
+#. Fix compile bug on RHEL6 due to missing header (Taylor Braun-Jones)
1.6.0
diff --git a/include/ceres/iteration_callback.h b/include/ceres/iteration_callback.h
index 0dc4c96..13140c2 100644
--- a/include/ceres/iteration_callback.h
+++ b/include/ceres/iteration_callback.h
@@ -128,6 +128,8 @@
// Newton step.
int linear_solver_iterations;
+ // All times reported below are wall times.
+
// Time (in seconds) spent inside the minimizer loop in the current
// iteration.
double iteration_time_in_seconds;
diff --git a/include/ceres/jet.h b/include/ceres/jet.h
index 7299a48..4d2a857 100644
--- a/include/ceres/jet.h
+++ b/include/ceres/jet.h
@@ -545,8 +545,8 @@
Jet<T, N> tanh(const Jet<T, N>& f) {
Jet<T, N> g;
g.a = tanh(f.a);
- double tanh_fa = tanh(f.a);
- const T tmp = 1 - tanh_fa * tanh_fa;
+ double tanh_a = tanh(f.a);
+ const T tmp = T(1.0) - tanh_a * tanh_a;
g.v = tmp * f.v;
return g;
}
diff --git a/include/ceres/solver.h b/include/ceres/solver.h
index 854df2a..8bf87f9 100644
--- a/include/ceres/solver.h
+++ b/include/ceres/solver.h
@@ -603,6 +603,8 @@
int num_unsuccessful_steps;
int num_inner_iteration_steps;
+ // All times reported below are wall times.
+
// When the user calls Solve, before the actual optimization
// occurs, Ceres performs a number of preprocessing steps. These
// include error checks, memory allocations, and reorderings. This
diff --git a/internal/ceres/solver.cc b/internal/ceres/solver.cc
index 5acbbfd..9ff2d15 100644
--- a/internal/ceres/solver.cc
+++ b/internal/ceres/solver.cc
@@ -283,7 +283,6 @@
StringAppendF(&report, "%45s %21s\n", "Given", "Used");
StringAppendF(&report, "Threads % 25d% 25d\n",
num_threads_given, num_threads_used);
-
}
if (termination_type == DID_NOT_RUN) {
