diff options
Diffstat (limited to 'include/ceres/autodiff_cost_function.h')
| -rw-r--r-- | include/ceres/autodiff_cost_function.h | 46 |
1 files changed, 26 insertions, 20 deletions
diff --git a/include/ceres/autodiff_cost_function.h b/include/ceres/autodiff_cost_function.h index 371a11f..7c0fa79 100644 --- a/include/ceres/autodiff_cost_function.h +++ b/include/ceres/autodiff_cost_function.h @@ -96,7 +96,7 @@ // "MyScalarCostFunctor", "1, 2, 2", describe the functor as computing a // 1-dimensional output from two arguments, both 2-dimensional. // -// The autodiff cost function also supports cost functions with a +// AutoDiffCostFunction also supports cost functions with a // runtime-determined number of residuals. For example: // // CostFunction* cost_function @@ -110,8 +110,9 @@ // Dimension of x ------------------------------------+ | // Dimension of y ---------------------------------------+ // -// The framework can currently accommodate cost functions of up to 6 independent -// variables, and there is no limit on the dimensionality of each of them. +// The framework can currently accommodate cost functions of up to 10 +// independent variables, and there is no limit on the dimensionality +// of each of them. // // WARNING #1: Since the functor will get instantiated with different types for // T, you must to convert from other numeric types to T before mixing @@ -145,13 +146,13 @@ namespace ceres { // // The constructors take ownership of the cost functor. // -// If the number of residuals (argument "M" below) is ceres::DYNAMIC, then the -// two-argument constructor must be used. The second constructor takes a number -// of residuals (in addition to the templated number of residuals). This allows -// for varying the number of residuals for a single autodiff cost function at -// runtime. +// If the number of residuals (argument kNumResiduals below) is +// ceres::DYNAMIC, then the two-argument constructor must be used. The +// second constructor takes a number of residuals (in addition to the +// templated number of residuals). This allows for varying the number +// of residuals for a single autodiff cost function at runtime. template <typename CostFunctor, - int M, // Number of residuals, or ceres::DYNAMIC. + int kNumResiduals, // Number of residuals, or ceres::DYNAMIC. int N0, // Number of parameters in block 0. int N1 = 0, // Number of parameters in block 1. int N2 = 0, // Number of parameters in block 2. @@ -162,28 +163,32 @@ template <typename CostFunctor, int N7 = 0, // Number of parameters in block 7. int N8 = 0, // Number of parameters in block 8. int N9 = 0> // Number of parameters in block 9. -class AutoDiffCostFunction : public SizedCostFunction<M, +class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> { public: // Takes ownership of functor. Uses the template-provided value for the - // number of residuals ("M"). + // number of residuals ("kNumResiduals"). explicit AutoDiffCostFunction(CostFunctor* functor) : functor_(functor) { - CHECK_NE(M, DYNAMIC) << "Can't run the fixed-size constructor if the " - << "number of residuals is set to ceres::DYNAMIC."; + CHECK_NE(kNumResiduals, DYNAMIC) + << "Can't run the fixed-size constructor if the " + << "number of residuals is set to ceres::DYNAMIC."; } - // Takes ownership of functor. Ignores the template-provided number of - // residuals ("M") in favor of the "num_residuals" argument provided. + // Takes ownership of functor. Ignores the template-provided + // kNumResiduals in favor of the "num_residuals" argument provided. // // This allows for having autodiff cost functions which return varying // numbers of residuals at runtime. AutoDiffCostFunction(CostFunctor* functor, int num_residuals) : functor_(functor) { - CHECK_EQ(M, DYNAMIC) << "Can't run the dynamic-size constructor if the " - << "number of residuals is not ceres::DYNAMIC."; - SizedCostFunction<M, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> + CHECK_EQ(kNumResiduals, DYNAMIC) + << "Can't run the dynamic-size constructor if the " + << "number of residuals is not ceres::DYNAMIC."; + SizedCostFunction<kNumResiduals, + N0, N1, N2, N3, N4, + N5, N6, N7, N8, N9> ::set_num_residuals(num_residuals); } @@ -206,8 +211,9 @@ class AutoDiffCostFunction : public SizedCostFunction<M, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate( *functor_, parameters, - SizedCostFunction<M, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> - ::num_residuals(), + SizedCostFunction<kNumResiduals, + N0, N1, N2, N3, N4, + N5, N6, N7, N8, N9>::num_residuals(), residuals, jacobians); } |