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Remove RuntimeNumericDiffCostFunction.

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Move the GradientCheckingCostFunction to DynamicNumericDiffCostFunction.

Also fix a const correctness issue with DynamicNumericDiffCostFunction.

Change-Id: Id446810f43374e7b7db7fe4dd01a891e3c54abb9
This commit is contained in:
Sameer Agarwal
2013-10-09 10:12:43 -07:00
parent fc8ede2d5e
commit 35ee1f715c
7 changed files with 47 additions and 540 deletions
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include/ceres/dynamic_numeric_diff_cost_function.h
+30 -5
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@@ -67,6 +67,7 @@
#include "ceres/cost_function.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/numeric_diff.h"
#include "glog/logging.h"
namespace ceres {
@@ -74,7 +75,7 @@ namespace ceres {
template <typename CostFunctor, NumericDiffMethod method = CENTRAL>
class DynamicNumericDiffCostFunction : public CostFunction {
public:
explicit DynamicNumericDiffCostFunction(CostFunctor* functor,
explicit DynamicNumericDiffCostFunction(const CostFunctor* functor,
Ownership ownership = TAKE_OWNERSHIP,
double relative_step_size = 1e-6)
: functor_(functor),
@@ -108,7 +109,7 @@ class DynamicNumericDiffCostFunction : public CostFunction {
<< "You must call DynamicNumericDiffCostFunction::AddParameterBlock() "
<< "before DynamicNumericDiffCostFunction::Evaluate().";
const bool status = (*functor_)(parameters, residuals);
const bool status = EvaluateCostFunctor(parameters, residuals);
if (jacobians == NULL || !status) {
return status;
}
@@ -194,7 +195,7 @@ class DynamicNumericDiffCostFunction : public CostFunction {
x_plus_delta(j) = x(j) + step_size(j);
ResidualVector residuals(num_residuals);
if (!(*functor_)(parameters, &residuals[0])) {
if (!EvaluateCostFunctor(parameters, &residuals[0])) {
// Something went wrong; bail.
return false;
}
@@ -210,7 +211,7 @@ class DynamicNumericDiffCostFunction : public CostFunction {
// Compute the function on the other side of x(j).
x_plus_delta(j) = x(j) - step_size(j);
if (!(*functor_)(parameters, &residuals[0])) {
if (!EvaluateCostFunctor(parameters, &residuals[0])) {
// Something went wrong; bail.
return false;
}
@@ -230,7 +231,31 @@ class DynamicNumericDiffCostFunction : public CostFunction {
return true;
}
internal::scoped_ptr<CostFunctor> functor_;
bool EvaluateCostFunctor(double const* const* parameters,
double* residuals) const {
return EvaluateCostFunctorImpl(functor_.get(),
parameters,
residuals,
functor_.get());
}
// Helper templates to allow evaluation of a functor or a
// CostFunction.
bool EvaluateCostFunctorImpl(const CostFunctor* functor,
double const* const* parameters,
double* residuals,
const void* /* NOT USED */) const {
return (*functor)(parameters, residuals);
}
bool EvaluateCostFunctorImpl(const CostFunctor* functor,
double const* const* parameters,
double* residuals,
const CostFunction* /* NOT USED */) const {
return functor->Evaluate(parameters, residuals, NULL);
}
internal::scoped_ptr<const CostFunctor> functor_;
Ownership ownership_;
const double relative_step_size_;
};