diff options
Diffstat (limited to 'include/ceres/autodiff_local_parameterization.h')
-rw-r--r-- | include/ceres/autodiff_local_parameterization.h | 14 |
1 files changed, 12 insertions, 2 deletions
diff --git a/include/ceres/autodiff_local_parameterization.h b/include/ceres/autodiff_local_parameterization.h index 0aae6c7..c100d48 100644 --- a/include/ceres/autodiff_local_parameterization.h +++ b/include/ceres/autodiff_local_parameterization.h @@ -107,11 +107,18 @@ namespace ceres { template <typename Functor, int kGlobalSize, int kLocalSize> class AutoDiffLocalParameterization : public LocalParameterization { public: + AutoDiffLocalParameterization() : + functor_(new Functor()) {} + + // Takes ownership of functor. + explicit AutoDiffLocalParameterization(Functor* functor) : + functor_(functor) {} + virtual ~AutoDiffLocalParameterization() {} virtual bool Plus(const double* x, const double* delta, double* x_plus_delta) const { - return Functor()(x, delta, x_plus_delta); + return (*functor_)(x, delta, x_plus_delta); } virtual bool ComputeJacobian(const double* x, double* jacobian) const { @@ -128,7 +135,7 @@ class AutoDiffLocalParameterization : public LocalParameterization { const double* parameter_ptrs[2] = {x, zero_delta}; double* jacobian_ptrs[2] = { NULL, jacobian }; return internal::AutoDiff<Functor, double, kGlobalSize, kLocalSize> - ::Differentiate(Functor(), + ::Differentiate(*functor_, parameter_ptrs, kGlobalSize, x_plus_delta, @@ -137,6 +144,9 @@ class AutoDiffLocalParameterization : public LocalParameterization { virtual int GlobalSize() const { return kGlobalSize; } virtual int LocalSize() const { return kLocalSize; } + + private: + internal::scoped_ptr<Functor> functor_; }; } // namespace ceres |