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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
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// 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 <glog/logging.h>
#include "ceres/types.h"
#include "ceres/cost_function.h"
namespace ceres {
template<int kNumResiduals,
int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
class SizedCostFunction : public CostFunction {
public:
SizedCostFunction() {
CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC)
<< "Cost functions must have at least one residual block.";
// This block breaks the 80 column rule to keep it somewhat readable.
CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0)))
<< "Zero block cannot precede a non-zero block. Block sizes are "
<< "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
<< N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
<< N8 << ", " << N9;
set_num_residuals(kNumResiduals);
#define ADD_PARAMETER_BLOCK(N) \
if (N) mutable_parameter_block_sizes()->push_back(N);
ADD_PARAMETER_BLOCK(N0);
ADD_PARAMETER_BLOCK(N1);
ADD_PARAMETER_BLOCK(N2);
ADD_PARAMETER_BLOCK(N3);
ADD_PARAMETER_BLOCK(N4);
ADD_PARAMETER_BLOCK(N5);
ADD_PARAMETER_BLOCK(N6);
ADD_PARAMETER_BLOCK(N7);
ADD_PARAMETER_BLOCK(N8);
ADD_PARAMETER_BLOCK(N9);
#undef ADD_PARAMETER_BLOCK
}
virtual ~SizedCostFunction() { }
// Subclasses must implement Evaluate().
};
} // namespace ceres
#endif // CERES_PUBLIC_SIZED_COST_FUNCTION_H_