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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/tiny_solver_autodiff_function.h
+1 -1
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@@ -120,7 +120,7 @@ class TinySolverAutoDiffFunction {
NUM_RESIDUALS = kNumResiduals,
};
// This is similar to AutoDiff::Differentiate(), but since there is only one
// This is similar to AutoDifferentiate(), but since there is only one
// parameter block it is easier to inline to avoid overhead.
bool operator()(const T* parameters,
T* residuals,