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Modernize include/ceres headers to C++17 and Abseil conventions

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- include/ceres/autodiff_manifold.h: Replace manual zero-initialization loops with value-initialization ({}) in PlusJacobian and MinusJacobian.
- include/ceres/dynamic_numeric_diff_cost_function.h: Replace std::vector with absl::FixedArray for temporary evaluation buffers and use std::copy_n instead of memcpy in Evaluate.
- include/ceres/numeric_diff_cost_function.h: Replace memcpy with std::copy_n in Evaluate.

Change-Id: I13b546458185d9fdd22b086094ca1072c57c40ed
This commit is contained in:
Sameer Agarwal
2026-03-23 11:24:32 -07:00
parent ea4de24c2e
commit 2b9a2d77c3
3 changed files with 15 additions and 22 deletions
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include/ceres/dynamic_numeric_diff_cost_function.h
+8 -6
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@@ -40,6 +40,7 @@
#include <type_traits>
#include <vector>
#include "absl/container/fixed_array.h"
#include "absl/log/check.h"
#include "ceres/dynamic_cost_function.h"
#include "ceres/internal/eigen.h"
@@ -142,9 +143,10 @@ class DynamicNumericDiffCostFunction final : public DynamicCostFunction {
}
// Create local space for a copy of the parameters which will get mutated.
int parameters_size = accumulate(block_sizes.begin(), block_sizes.end(), 0);
std::vector<double> parameters_copy(parameters_size);
std::vector<double*> parameters_references_copy(block_sizes.size());
int parameters_size =
std::accumulate(block_sizes.begin(), block_sizes.end(), 0);
absl::FixedArray<double> parameters_copy(parameters_size);
absl::FixedArray<double*> parameters_references_copy(block_sizes.size());
parameters_references_copy[0] = parameters_copy.data();
for (size_t block = 1; block < block_sizes.size(); ++block) {
parameters_references_copy[block] =
@@ -153,9 +155,9 @@ class DynamicNumericDiffCostFunction final : public DynamicCostFunction {
// Copy the parameters into the local temp space.
for (size_t block = 0; block < block_sizes.size(); ++block) {
memcpy(parameters_references_copy[block],
parameters[block],
block_sizes[block] * sizeof(*parameters[block]));
std::copy_n(parameters[block],
block_sizes[block],
parameters_references_copy[block]);
}
for (size_t block = 0; block < block_sizes.size(); ++block) {