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Run clang-format on the public headers.

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Also update copyright year.

Change-Id: I8508d4fd4564c646ec2281a1b3b2c36136b54b46
This commit is contained in:
Sameer Agarwal
2019-12-02 13:52:31 -08:00
parent c56702aacc
commit 4362a21699
37 changed files with 322 additions and 355 deletions
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include/ceres/numeric_diff_cost_function.h
+18 -16
View File
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// Copyright 2019 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
@@ -98,6 +98,8 @@
// NumericDiffCostFunction also supports cost functions with a
// runtime-determined number of residuals. For example:
//
// clang-format off
//
// CostFunction* cost_function
// = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, DYNAMIC, 2, 2>(
// new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
@@ -109,6 +111,8 @@
// Indicate dynamic number of residuals --------------------+ | |
// Dimension of x ------------------------------------------------+ |
// Dimension of y ---------------------------------------------------+
// clang-format on
//
//
// The central difference method is considerably more accurate at the cost of
// twice as many function evaluations than forward difference. Consider using
@@ -182,9 +186,7 @@ class NumericDiffCostFunction : public SizedCostFunction<kNumResiduals, Ns...> {
Ownership ownership = TAKE_OWNERSHIP,
int num_residuals = kNumResiduals,
const NumericDiffOptions& options = NumericDiffOptions())
: functor_(functor),
ownership_(ownership),
options_(options) {
: functor_(functor), ownership_(ownership), options_(options) {
if (kNumResiduals == DYNAMIC) {
SizedCostFunction<kNumResiduals, Ns...>::set_num_residuals(num_residuals);
}
@@ -210,9 +212,8 @@ class NumericDiffCostFunction : public SizedCostFunction<kNumResiduals, Ns...> {
constexpr int kNumParameterBlocks = ParameterDims::kNumParameterBlocks;
// Get the function value (residuals) at the the point to evaluate.
if (!internal::VariadicEvaluate<ParameterDims>(*functor_,
parameters,
residuals)) {
if (!internal::VariadicEvaluate<ParameterDims>(
*functor_, parameters, residuals)) {
return false;
}
@@ -226,18 +227,19 @@ class NumericDiffCostFunction : public SizedCostFunction<kNumResiduals, Ns...> {
ParameterDims::GetUnpackedParameters(parameters_copy.data());
for (int block = 0; block < kNumParameterBlocks; ++block) {
memcpy(parameters_reference_copy[block], parameters[block],
memcpy(parameters_reference_copy[block],
parameters[block],
sizeof(double) * ParameterDims::GetDim(block));
}
internal::EvaluateJacobianForParameterBlocks<ParameterDims>::template Apply<
method, kNumResiduals>(
functor_.get(),
residuals,
options_,
SizedCostFunction<kNumResiduals, Ns...>::num_residuals(),
parameters_reference_copy.data(),
jacobians);
internal::EvaluateJacobianForParameterBlocks<ParameterDims>::
template Apply<method, kNumResiduals>(
functor_.get(),
residuals,
options_,
SizedCostFunction<kNumResiduals, Ns...>::num_residuals(),
parameters_reference_copy.data(),
jacobians);
return true;
}