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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_numeric_diff_cost_function.h
+18 -27
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@@ -30,7 +30,23 @@
// sameeragarwal@google.com (Sameer Agarwal)
// thadh@gmail.com (Thad Hughes)
// tbennun@gmail.com (Tal Ben-Nun)
//
#ifndef CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
#define CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
#include <cmath>
#include <numeric>
#include <vector>
#include "ceres/dynamic_cost_function.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/numeric_diff.h"
#include "ceres/numeric_diff_options.h"
#include "glog/logging.h"
namespace ceres {
// This numeric diff implementation differs from the one found in
// numeric_diff_cost_function.h by supporting numericdiff on cost
// functions with variable numbers of parameters with variable
@@ -56,25 +72,8 @@
// cost_function.AddParameterBlock(5);
// cost_function.AddParameterBlock(10);
// cost_function.SetNumResiduals(21);
#ifndef CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
#define CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
#include <cmath>
#include <numeric>
#include <vector>
#include "ceres/cost_function.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/numeric_diff.h"
#include "ceres/numeric_diff_options.h"
#include "glog/logging.h"
namespace ceres {
template <typename CostFunctor, NumericDiffMethodType method = CENTRAL>
class DynamicNumericDiffCostFunction : public CostFunction {
class DynamicNumericDiffCostFunction : public DynamicCostFunction {
public:
explicit DynamicNumericDiffCostFunction(
const CostFunctor* functor,
@@ -91,14 +90,6 @@ class DynamicNumericDiffCostFunction : public CostFunction {
}
}
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 {