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Sized cost function using variadic templates

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This PR changes the interface of sized_cost_fucntion,
autodiff_cost_function and numeric_diff_costfunction from using ten
hardcoded parameter blocks to a variable number of parameter blocks
using variadic templates.

Trailing parameter blocks of size zero are now considered as error.

Change-Id: I37b9a0a420ef0eda6476a46672bbf6bd57e19760
This commit is contained in:
Johannes Beck
2018-10-13 22:34:53 +02:00
parent f8e8951611
commit 8eef94de4e
12 changed files with 380 additions and 591 deletions
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include/ceres/autodiff_local_parameterization.h
+3 -6
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@@ -134,12 +134,9 @@ class AutoDiffLocalParameterization : public LocalParameterization {
const double* parameter_ptrs[2] = {x, zero_delta};
double* jacobian_ptrs[2] = { NULL, jacobian };
return internal::AutoDiff<Functor, double, kGlobalSize, kLocalSize>
::Differentiate(*functor_,
parameter_ptrs,
kGlobalSize,
x_plus_delta,
jacobian_ptrs);
return internal::AutoDifferentiate<
internal::StaticParameterDims<kGlobalSize, kLocalSize>>(
*functor_, parameter_ptrs, kGlobalSize, x_plus_delta, jacobian_ptrs);
}
virtual int GlobalSize() const { return kGlobalSize; }