diff options
Diffstat (limited to 'include/ceres/dynamic_autodiff_cost_function.h')
| -rw-r--r-- | include/ceres/dynamic_autodiff_cost_function.h | 33 |
1 files changed, 17 insertions, 16 deletions
diff --git a/include/ceres/dynamic_autodiff_cost_function.h b/include/ceres/dynamic_autodiff_cost_function.h index 5d8f188..f9342cd 100644 --- a/include/ceres/dynamic_autodiff_cost_function.h +++ b/include/ceres/dynamic_autodiff_cost_function.h @@ -1,5 +1,5 @@ // Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2012 Google Inc. All rights reserved. +// Copyright 2013 Google Inc. All rights reserved. // http://code.google.com/p/ceres-solver/ // // Redistribution and use in source and binary forms, with or without @@ -26,18 +26,17 @@ // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE // POSSIBILITY OF SUCH DAMAGE. // -// Author: mierle@gmail.com (Keir Mierle) -// sameeragarwal@google.com (Sameer Agarwal) -// thadh@gmail.com (Thad Hughes) +// Author: sameeragarwal@google.com (Sameer Agarwal) +// mierle@gmail.com (Keir Mierle) // // This autodiff implementation differs from the one found in -// autodiff_cost_function.h by supporting autodiff on cost functions with -// variable numbers of parameters with variable sizes. With the other -// implementation, all the sizes (both the number of parameter blocks and the -// size of each block) must be fixed at compile time. +// autodiff_cost_function.h by supporting autodiff on cost functions +// with variable numbers of parameters with variable sizes. With the +// other implementation, all the sizes (both the number of parameter +// blocks and the size of each block) must be fixed at compile time. // -// The functor API differs slightly from the API for fixed size autodiff; the -// expected interface for the cost functors is: +// The functor API differs slightly from the API for fixed size +// autodiff; the expected interface for the cost functors is: // // struct MyCostFunctor { // template<typename T> @@ -46,8 +45,9 @@ // } // } // -// Since the sizing of the parameters is done at runtime, you must also specify -// the sizes after creating the dynamic autodiff cost function. For example: +// Since the sizing of the parameters is done at runtime, you must +// also specify the sizes after creating the dynamic autodiff cost +// function. For example: // // DynamicAutoDiffCostFunction<MyCostFunctor, 3> cost_function( // new MyCostFunctor()); @@ -55,10 +55,11 @@ // cost_function.AddParameterBlock(10); // cost_function.SetNumResiduals(21); // -// Under the hood, the implementation evaluates the cost function multiple -// times, computing a small set of the derivatives (four by default, controlled -// by the Stride template parameter) with each pass. There is a tradeoff with -// the size of the passes; you may want to experiment with the stride. +// Under the hood, the implementation evaluates the cost function +// multiple times, computing a small set of the derivatives (four by +// default, controlled by the Stride template parameter) with each +// pass. There is a tradeoff with the size of the passes; you may want +// to experiment with the stride. #ifndef CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_ #define CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_ |