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[modernize] Refactor NumericDiff to use if constexpr recursion

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Change-Id: I54ad1cec6924e4f4b5275056df7496c2e226f244
This commit is contained in:
Sameer Agarwal
2026-03-16 17:31:20 -07:00
parent bda3823b75
commit b25fe07f16
1 changed files with 26 additions and 41 deletions
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include/ceres/internal/numeric_diff.h
+26 -41
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@@ -133,7 +133,7 @@ struct NumericDiff {
for (int j = 0; j < parameter_block_size_internal; ++j) {
const double delta = (std::max)(min_step_size, step_size(j));
if (kMethod == RIDDERS) {
if constexpr (kMethod == RIDDERS) {
if (!EvaluateRiddersJacobianColumn(functor,
j,
delta,
@@ -453,50 +453,35 @@ struct EvaluateJacobianForParameterBlocks<ParameterDims,
double** parameters,
double** jacobians) {
if (jacobians[ParameterIdx] != nullptr) {
if (!NumericDiff<
CostFunctor,
method,
kNumResiduals,
ParameterDims,
ParameterIdx,
N>::EvaluateJacobianForParameterBlock(functor,
residuals_at_eval_point,
options,
num_residuals,
ParameterIdx,
N,
parameters,
jacobians[ParameterIdx])) {
if (!NumericDiff<CostFunctor,
method,
kNumResiduals,
ParameterDims,
ParameterIdx,
N>::
EvaluateJacobianForParameterBlock(functor,
residuals_at_eval_point,
options,
num_residuals,
ParameterIdx,
N,
parameters,
jacobians[ParameterIdx])) {
return false;
}
}
return EvaluateJacobianForParameterBlocks<ParameterDims,
std::integer_sequence<int, Ns...>,
ParameterIdx + 1>::
template Apply<method, kNumResiduals>(functor,
residuals_at_eval_point,
options,
num_residuals,
parameters,
jacobians);
}
};
// End of 'recursion'. Nothing more to do.
template <typename ParameterDims, int ParameterIdx>
struct EvaluateJacobianForParameterBlocks<ParameterDims,
std::integer_sequence<int>,
ParameterIdx> {
template <NumericDiffMethodType method,
int kNumResiduals,
typename CostFunctor>
static bool Apply(const CostFunctor* /* NOT USED*/,
const double* /* NOT USED*/,
const NumericDiffOptions& /* NOT USED*/,
int /* NOT USED*/,
double** /* NOT USED*/,
double** /* NOT USED*/) {
if constexpr (sizeof...(Ns) > 0) {
return EvaluateJacobianForParameterBlocks<
ParameterDims,
std::integer_sequence<int, Ns...>,
ParameterIdx + 1>::template Apply<method, kNumResiduals>(functor,
residuals_at_eval_point,
options,
num_residuals,
parameters,
jacobians);
}
return true;
}
};