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Introduce a common base class for DynamicAutoDiffCostFunction and DynamicNumericDiffCostFunction.

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In the process also move some documentation from the file header to
just above the class declaration.

This change is in response to https://github.com/ceres-solver/ceres-solver/issues/233

Change-Id: I08cff1a94c57b67dd2bd8be4dba8c3fce46b68ab
This commit is contained in:
Sameer Agarwal
2016-10-27 21:15:15 -07:00
parent 88b827a0e7
commit 78abf0cdfe
4 changed files with 104 additions and 67 deletions
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include/ceres/dynamic_autodiff_cost_function.h
+16 -25
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@@ -28,7 +28,21 @@
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
// mierle@gmail.com (Keir Mierle)
//
#ifndef CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
#define CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
#include <cmath>
#include <numeric>
#include <vector>
#include "ceres/dynamic_cost_function.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/jet.h"
#include "glog/logging.h"
namespace ceres {
// 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
@@ -60,37 +74,14 @@
// 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_
#include <cmath>
#include <numeric>
#include <vector>
#include "ceres/cost_function.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/jet.h"
#include "glog/logging.h"
namespace ceres {
template <typename CostFunctor, int Stride = 4>
class DynamicAutoDiffCostFunction : public CostFunction {
class DynamicAutoDiffCostFunction : public DynamicCostFunction {
public:
explicit DynamicAutoDiffCostFunction(CostFunctor* functor)
: functor_(functor) {}
virtual ~DynamicAutoDiffCostFunction() {}
void AddParameterBlock(int size) {
mutable_parameter_block_sizes()->push_back(size);
}
void SetNumResiduals(int num_residuals) {
set_num_residuals(num_residuals);
}
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {