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Implement AddResidualBlock using variadic templates

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This CL changes the implementation of AddResidualBlock() in
ceres::Problem using variadic templates. Also one new overload for
AddResidualBlock() is added using a double** and the number of
parameter blocks.

Change-Id: I007a82a06897335a117213a0d12fedb4a77076a0
This commit is contained in:
Johannes Beck
2018-10-15 21:10:05 +02:00
parent e243fd292d
commit e51e9b46f6
7 changed files with 68 additions and 340 deletions
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internal/ceres/problem_impl.h
+15 -43
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@@ -39,6 +39,7 @@
#ifndef CERES_PUBLIC_PROBLEM_IMPL_H_
#define CERES_PUBLIC_PROBLEM_IMPL_H_
#include <array>
#include <map>
#include <memory>
#include <unordered_set>
@@ -79,49 +80,21 @@ class ProblemImpl {
ResidualBlockId AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
const std::vector<double*>& parameter_blocks);
double* const* const parameter_blocks,
int num_parameter_blocks);
template <typename... Ts>
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3, double* x4);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3, double* x4, double* x5);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3, double* x4, double* x5,
double* x6);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3, double* x4, double* x5,
double* x6, double* x7);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3, double* x4, double* x5,
double* x6, double* x7, double* x8);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3, double* x4, double* x5,
double* x6, double* x7, double* x8,
double* x9);
double* x0,
Ts*... xs) {
const std::array<double*, sizeof...(Ts) + 1> parameter_blocks{{x0, xs...}};
return AddResidualBlock(cost_function,
loss_function,
parameter_blocks.data(),
static_cast<int>(parameter_blocks.size()));
}
void AddParameterBlock(double* values, int size);
void AddParameterBlock(double* values,
int size,
@@ -194,7 +167,7 @@ class ProblemImpl {
// Delete the arguments in question. These differ from the Remove* functions
// in that they do not clean up references to the block to delete; they
// merely delete them.
template<typename Block>
template <typename Block>
void DeleteBlockInVector(std::vector<Block*>* mutable_blocks,
Block* block_to_remove);
void DeleteBlock(ResidualBlock* residual_block);
@@ -228,7 +201,6 @@ class ProblemImpl {
// destroyed.
CostFunctionRefCount cost_function_ref_count_;
LossFunctionRefCount loss_function_ref_count_;
std::vector<double*> residual_parameters_;
};
} // namespace internal