include/ceres/sized_cost_function.h

// Ceres Solver - A fast non-linear least squares minimizer
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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>
class SizedCostFunction : public CostFunction {
 public:
  SizedCostFunction() {
    // Sanity checking.
    CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC)
        << "Cost functions must have at least one residual block.";

    CHECK_GT(N0, 0)
        << "Cost functions must have at least one parameter block.";
    CHECK((!N1 && !N2 && !N3 && !N4 && !N5) ||
           ((N1 > 0) && !N2 && !N3 && !N4 && !N5) ||
           ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5) ||
           ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5) ||
           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5) ||
           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0)))
        << "Zero block cannot precede a non-zero block. Block sizes are "
        << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
        << N3 << ", " << N4 << ", " << N5;

    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);
#undef ADD_PARAMETER_BLOCK
  }

  virtual ~SizedCostFunction() { }

  // Subclasses must implement Evaluate().
};

}  // namespace ceres

#endif  // CERES_PUBLIC_SIZED_COST_FUNCTION_H_