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Add namespaces to generated functions and constants

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The generated function names now include the containing namespace.
For example:
	std::abs(...)
	std::sin(...)
	ceres::Ternary(...)

This patch also fixes the generation of inf/nan compile time constants,
using std::numeric_limits.

Change-Id: I4a36b09c68dd2adabed49fd4f7f37c8229ab7377
This commit is contained in:
Darius Rueckert
2020-02-06 11:03:47 +01:00
parent 75e575cae0
commit c8e35e19fd
6 changed files with 132 additions and 96 deletions
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include/ceres/codegen/internal/expression_ref.h
+34 -34
View File
@@ -115,37 +115,37 @@ ExpressionRef operator*(const ExpressionRef& x, const ExpressionRef& y);
ExpressionRef operator/(const ExpressionRef& x, const ExpressionRef& y);
// Functions
#define CERES_DEFINE_UNARY_FUNCTION_CALL(name) \
inline ExpressionRef name(const ExpressionRef& x) { \
return AddExpressionToGraph( \
Expression::CreateScalarFunctionCall(#name, {x.id})); \
#define CERES_DEFINE_UNARY_FUNCTION_CALL(ns, name) \
inline ExpressionRef name(const ExpressionRef& x) { \
return AddExpressionToGraph( \
Expression::CreateScalarFunctionCall(#ns "::" #name, {x.id})); \
}
#define CERES_DEFINE_BINARY_FUNCTION_CALL(name) \
#define CERES_DEFINE_BINARY_FUNCTION_CALL(ns, name) \
inline ExpressionRef name(const ExpressionRef& x, const ExpressionRef& y) { \
return AddExpressionToGraph( \
Expression::CreateScalarFunctionCall(#name, {x.id, y.id})); \
Expression::CreateScalarFunctionCall(#ns "::" #name, {x.id, y.id})); \
}
CERES_DEFINE_UNARY_FUNCTION_CALL(abs);
CERES_DEFINE_UNARY_FUNCTION_CALL(acos);
CERES_DEFINE_UNARY_FUNCTION_CALL(asin);
CERES_DEFINE_UNARY_FUNCTION_CALL(atan);
CERES_DEFINE_UNARY_FUNCTION_CALL(cbrt);
CERES_DEFINE_UNARY_FUNCTION_CALL(ceil);
CERES_DEFINE_UNARY_FUNCTION_CALL(cos);
CERES_DEFINE_UNARY_FUNCTION_CALL(cosh);
CERES_DEFINE_UNARY_FUNCTION_CALL(exp);
CERES_DEFINE_UNARY_FUNCTION_CALL(exp2);
CERES_DEFINE_UNARY_FUNCTION_CALL(floor);
CERES_DEFINE_UNARY_FUNCTION_CALL(log);
CERES_DEFINE_UNARY_FUNCTION_CALL(log2);
CERES_DEFINE_UNARY_FUNCTION_CALL(sin);
CERES_DEFINE_UNARY_FUNCTION_CALL(sinh);
CERES_DEFINE_UNARY_FUNCTION_CALL(sqrt);
CERES_DEFINE_UNARY_FUNCTION_CALL(tan);
CERES_DEFINE_UNARY_FUNCTION_CALL(tanh);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, abs);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, acos);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, asin);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, atan);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, cbrt);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, ceil);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, cos);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, cosh);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, exp);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, exp2);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, floor);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, log);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, log2);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, sin);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, sinh);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, sqrt);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, tan);
CERES_DEFINE_UNARY_FUNCTION_CALL(std, tanh);
CERES_DEFINE_BINARY_FUNCTION_CALL(atan2);
CERES_DEFINE_BINARY_FUNCTION_CALL(pow);
CERES_DEFINE_BINARY_FUNCTION_CALL(std, atan2);
CERES_DEFINE_BINARY_FUNCTION_CALL(std, pow);
#undef CERES_DEFINE_UNARY_FUNCTION_CALL
#undef CERES_DEFINE_BINARY_FUNCTION_CALL
@@ -198,16 +198,16 @@ ComparisonExpressionRef operator|(const ComparisonExpressionRef& x,
const ComparisonExpressionRef& y);
ComparisonExpressionRef operator!(const ComparisonExpressionRef& x);
#define CERES_DEFINE_UNARY_LOGICAL_FUNCTION_CALL(name) \
inline ComparisonExpressionRef name(const ExpressionRef& x) { \
return ComparisonExpressionRef(AddExpressionToGraph( \
Expression::CreateLogicalFunctionCall(#name, {x.id}))); \
#define CERES_DEFINE_UNARY_LOGICAL_FUNCTION_CALL(ns, name) \
inline ComparisonExpressionRef name(const ExpressionRef& x) { \
return ComparisonExpressionRef(AddExpressionToGraph( \
Expression::CreateLogicalFunctionCall(#ns "::" #name, {x.id}))); \
}
CERES_DEFINE_UNARY_LOGICAL_FUNCTION_CALL(isfinite);
CERES_DEFINE_UNARY_LOGICAL_FUNCTION_CALL(isinf);
CERES_DEFINE_UNARY_LOGICAL_FUNCTION_CALL(isnan);
CERES_DEFINE_UNARY_LOGICAL_FUNCTION_CALL(isnormal);
CERES_DEFINE_UNARY_LOGICAL_FUNCTION_CALL(std, isfinite);
CERES_DEFINE_UNARY_LOGICAL_FUNCTION_CALL(std, isinf);
CERES_DEFINE_UNARY_LOGICAL_FUNCTION_CALL(std, isnan);
CERES_DEFINE_UNARY_LOGICAL_FUNCTION_CALL(std, isnormal);
#undef CERES_DEFINE_UNARY_LOGICAL_FUNCTION_CALL