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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/
-//
-// 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 simple example of using the Ceres minimizer.
-//
-// Minimize 0.5 (10 - x)^2 using jacobian matrix computed using
-// automatic differentiation.
-
-#include <vector>
-#include "ceres/ceres.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
-
-using ceres::AutoDiffCostFunction;
-using ceres::CostFunction;
-using ceres::Problem;
-using ceres::Solver;
-using ceres::Solve;
-
-// A templated cost functor that implements the residual r = 10 -
-// x. The method operator() is templated so that we can then use an
-// automatic differentiation wrapper around it to generate its
-// derivatives.
-class QuadraticCostFunctor {
- public:
- template <typename T> bool operator()(const T* const x, T* residual) const {
- residual[0] = T(10.0) - x[0];
- return true;
- }
-};
-
-int main(int argc, char** argv) {
- google::ParseCommandLineFlags(&argc, &argv, true);
- google::InitGoogleLogging(argv[0]);
-
- // The variable to solve for with its initial value.
- double initial_x = 5.0;
- double x = initial_x;
-
- // Build the problem.
- Problem problem;
-
- // Set up the only cost function (also known as residual). This uses
- // auto-differentiation to obtain the derivative (jacobian).
- problem.AddResidualBlock(
- new AutoDiffCostFunction<QuadraticCostFunctor, 1, 1>(
- new QuadraticCostFunctor),
- NULL,
- &x);
-
- // Run the solver!
- Solver::Options options;
- options.max_num_iterations = 10;
- options.linear_solver_type = ceres::DENSE_QR;
- options.minimizer_progress_to_stdout = true;
- Solver::Summary summary;
- Solve(options, &problem, &summary);
- std::cout << summary.BriefReport() << "\n";
- std::cout << "x : " << initial_x
- << " -> " << x << "\n";
- return 0;
-}