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Diffstat (limited to 'google3/jet_traits.h')
| -rw-r--r-- | google3/jet_traits.h | 82 |
1 files changed, 82 insertions, 0 deletions
diff --git a/google3/jet_traits.h b/google3/jet_traits.h new file mode 100644 index 0000000..5f58075 --- /dev/null +++ b/google3/jet_traits.h @@ -0,0 +1,82 @@ +// Type traits for google3's custom MathUtil traits class. This is needed to +// enable embedding Jet objects inside the Quaternion class, found in +// util/math/quaternion.h. Including this file makes it possible to use +// quaternions inside Ceres cost functions which are automatically +// differentiated; for example: +// +// struct MyCostFunction { +// template<T> +// bool Map(const T* const quaternion_parameters, T* residuals) { +// Quaternion<T> quaternion(quaternion_parameters); +// ... +// } +// } +// +// NOTE(keir): This header must be included before quaternion.h or other +// file relying on traits. Adding a direct dependency on this header from +// mathlimits.h is a bad idea, so it is up to clients to use the correct include +// order. + +#ifndef JET_TRAITS_H +#define JET_TRAITS_H + +#include "ceres/jet.h" +#include "util/math/mathlimits.h" + +template<typename T, int N> +struct MathLimits<ceres::Jet<T, N> > { + typedef ceres::Jet<T, N> Type; + typedef ceres::Jet<T, N> UnsignedType; + static const bool kIsSigned = true; + static const bool kIsInteger = false; + static const Type kPosMin; + static const Type kPosMax; + static const Type kMin; + static const Type kMax; + static const Type kNegMin; + static const Type kNegMax; + static const int kMin10Exp; + static const int kMax10Exp; + static const Type kEpsilon; + static const Type kStdError; + static const int kPrecisionDigits; + static const Type kNaN; + static const Type kPosInf; + static const Type kNegInf; + static bool IsFinite(const Type x) { return isfinite(x); } + static bool IsNaN (const Type x) { return isnan(x); } + static bool IsInf (const Type x) { return isinf(x); } + static bool IsPosInf(const Type x) { + bool found_inf = MathLimits<T>::IsPosInf(x.a); + for (int i = 0; i < N && !found_inf; ++i) { + found_inf = MathLimits<T>::IsPosInf(x.v[i]); + } + return found_inf; + } + static bool IsNegInf(const Type x) { + bool found_inf = MathLimits<T>::IsNegInf(x.a); + for (int i = 0; i < N && !found_inf; ++i) { + found_inf = MathLimits<T>::IsNegInf(x.v[i]); + } + return found_inf; + } +}; + +// Since every one of these items is a simple forward to the scalar type +// underlying the jet, use a tablular format which makes the structure clear. +template<typename T, int N> const ceres::Jet<T, N> MathLimits<ceres::Jet<T, N> >::kPosMin = ceres::Jet<T, N>(MathLimits<T>::kPosMin); // NOLINT +template<typename T, int N> const ceres::Jet<T, N> MathLimits<ceres::Jet<T, N> >::kPosMax = ceres::Jet<T, N>(MathLimits<T>::kPosMax); // NOLINT +template<typename T, int N> const ceres::Jet<T, N> MathLimits<ceres::Jet<T, N> >::kMin = ceres::Jet<T, N>(MathLimits<T>::kMin); // NOLINT +template<typename T, int N> const ceres::Jet<T, N> MathLimits<ceres::Jet<T, N> >::kMax = ceres::Jet<T, N>(MathLimits<T>::kMax); // NOLINT +template<typename T, int N> const ceres::Jet<T, N> MathLimits<ceres::Jet<T, N> >::kNegMin = ceres::Jet<T, N>(MathLimits<T>::kNegMin); // NOLINT +template<typename T, int N> const ceres::Jet<T, N> MathLimits<ceres::Jet<T, N> >::kNegMax = ceres::Jet<T, N>(MathLimits<T>::kNegMax); // NOLINT +template<typename T, int N> const int MathLimits<ceres::Jet<T, N> >::kMin10Exp = MathLimits<T>::kMin10Exp; // NOLINT +template<typename T, int N> const int MathLimits<ceres::Jet<T, N> >::kMax10Exp = MathLimits<T>::kMax10Exp; // NOLINT +template<typename T, int N> const ceres::Jet<T, N> MathLimits<ceres::Jet<T, N> >::kEpsilon = ceres::Jet<T, N>(MathLimits<T>::kEpsilon); // NOLINT +template<typename T, int N> const ceres::Jet<T, N> MathLimits<ceres::Jet<T, N> >::kStdError = ceres::Jet<T, N>(MathLimits<T>::kStdError); // NOLINT +template<typename T, int N> const int MathLimits<ceres::Jet<T, N> >::kPrecisionDigits = MathLimits<T>::kPrecisionDigits; // NOLINT +template<typename T, int N> const ceres::Jet<T, N> MathLimits<ceres::Jet<T, N> >::kNaN = ceres::Jet<T, N>(MathLimits<T>::kNaN); // NOLINT +template<typename T, int N> const ceres::Jet<T, N> MathLimits<ceres::Jet<T, N> >::kPosInf = ceres::Jet<T, N>(MathLimits<T>::kPosInf); // NOLINT +template<typename T, int N> const ceres::Jet<T, N> MathLimits<ceres::Jet<T, N> >::kNegInf = ceres::Jet<T, N>(MathLimits<T>::kNegInf); // NOLINT + +#endif // JET_TRAITS_H |