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Lint cleanup and a bug fix.

Browse Source 
Thanks to William Rucklidge.

Change-Id: I963656be661020abacbff792cfc3025623503db8
This commit is contained in:
Sameer Agarwal
2013-10-03 14:37:07 -07:00
parent f519ff7ba6
commit 10ac7d8048
4 changed files with 34 additions and 26 deletions
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docs/source/modeling.rst
+11 -11
View File
@@ -371,8 +371,8 @@ residuals and their derivatives. This is done using
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 NumericDiffCostFunction
: public SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> {
class NumericDiffCostFunction : public
SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> {
};
To get a numerically differentiated :class:`CostFunction`, you must
@@ -458,15 +458,15 @@ residuals and their derivatives. This is done using
CostFunction* cost_function
= new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, DYNAMIC, 2, 2>(
new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
TAKE_OWNERSHIP, | | |
runtime_number_of_residuals); <----+ | | |
| | | |
| | | |
Actual number of residuals ------+ | | |
Indicate dynamic number of residuals --------+ | |
Dimension of x ------------------------------------+ |
Dimension of y ---------------------------------------+
new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
TAKE_OWNERSHIP, | | |
runtime_number_of_residuals); <----+ | | |
| | | |
| | | |
Actual number of residuals ------+ | | |
Indicate dynamic number of residuals --------------------+ | |
Dimension of x ------------------------------------------------+ |
Dimension of y ---------------------------------------------------+
The framework can currently accommodate cost functions of up to 10
include/ceres/autodiff_cost_function.h
+6 -2
View File
@@ -186,7 +186,9 @@ class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals,
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>
SizedCostFunction<kNumResiduals,
N0, N1, N2, N3, N4,
N5, N6, N7, N8, N9>
::set_num_residuals(num_residuals);
}
@@ -209,7 +211,9 @@ class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals,
N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(
*functor_,
parameters,
SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
SizedCostFunction<kNumResiduals,
N0, N1, N2, N3, N4,
N5, N6, N7, N8, N9>
::num_residuals(),
residuals,
jacobians);
include/ceres/dynamic_numeric_diff_cost_function.h
+2 -2
View File
@@ -108,8 +108,8 @@ class DynamicNumericDiffCostFunction : public CostFunction {
<< "You must call DynamicNumericDiffCostFunction::AddParameterBlock() "
<< "before DynamicNumericDiffCostFunction::Evaluate().";
bool status = (*functor_)(parameters, residuals);
if (jacobians == NULL) {
const bool status = (*functor_)(parameters, residuals);
if (jacobians == NULL || !status) {
return status;
}
include/ceres/numeric_diff_cost_function.h
+15 -11
View File
@@ -100,15 +100,15 @@
//
// CostFunction* cost_function
// = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, DYNAMIC, 2, 2>(
// new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
// TAKE_OWNERSHIP, | | |
// runtime_number_of_residuals); <----+ | | |
// | | | |
// | | | |
// Actual number of residuals ------+ | | |
// Indicate dynamic number of residuals --------+ | |
// Dimension of x ------------------------------------+ |
// Dimension of y ---------------------------------------+
// new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
// TAKE_OWNERSHIP, | | |
// runtime_number_of_residuals); <----+ | | |
// | | | |
// | | | |
// Actual number of residuals ------+ | | |
// Indicate dynamic number of residuals --------------------+ | |
// Dimension of x ------------------------------------------------+ |
// Dimension of y ---------------------------------------------------+
//
// The framework can currently accommodate cost functions of up to 10
// independent variables, and there is no limit on the dimensionality
@@ -197,7 +197,9 @@ class NumericDiffCostFunction
ownership_(ownership),
relative_step_size_(relative_step_size) {
if (kNumResiduals == DYNAMIC) {
SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
SizedCostFunction<kNumResiduals,
N0, N1, N2, N3, N4,
N5, N6, N7, N8, N9>
::set_num_residuals(num_residuals);
}
}
@@ -277,7 +279,9 @@ class NumericDiffCostFunction
functor_.get(), \
residuals, \
relative_step_size_, \
SizedCostFunction<kNumResiduals, 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(), \
parameters_reference_copy.get(), \
jacobians[block])) { \
return false; \