This change restructures the `TinySolver` template and its associated
adapters (`AutoDiff` and `CostFunction`) to make maximum sizing
attributes first-class parameters. This enables the entire `TinySolver`
stack to be used in restricted environments (e.g., small MCUs) without
dynamic memory allocation, even when the number of residuals or
parameters is only known at runtime (`Eigen::Dynamic`).
Specifically:
- Adds `kMaxResiduals` and `kMaxParameters` template parameters to
`TinySolver`.
- Updated `TinySolverAutoDiffFunction` and
`TinySolverCostFunctionAdapter` to support optional maximum size
template parameters for their internal buffers.
- The new API maintains backward compatibility for existing users by
defaulting to the sizes defined in the `Function`'s enums.
- This structure also supports reducing code bloat by allowing
`TinySolver` to be instantiated with an abstract base class, using
dynamic dispatch for cost function evaluation.
New test cases for `TinySolver` and its adapters verify the
zero-allocation behavior and the unified API flexibility.
Change-Id: Ic6f43984d384dbe71472b31c5ebd2b538d61f19d
1. Add a version history
2. Update copyright years across the code base
3. Run format_all.sh
4. Update version strings from 2.1.0 to 2.2.0 in the docs and
elsewhere.
Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
For proper alignment on the heap Eigen needs to have a custom
allocator. There are two forms, new and in-place new. To make sure
that memory is aligned using new, one needs to overload new by
adding EIGEN_MAKE_ALIGNED_OPERATOR_NEW to any struct which contains a
fixed size Eigen type either through inheritance or as a direct or
indirect member. For the in-place new one need to use the
Eigen::aligned_allocator (e.g. for std::vector, std::list,
FixedArray, etc.). For more details see:
https://eigen.tuxfamily.org/dox/group__DenseMatrixManipulation__Alignement.html
This CL adds EIGEN_MAKE_ALIGNED_OPERATOR_NEW to all structs, which
contain fixed-size Eigen types and uses the Eigen::aligned_allocator
for containers which stores structs of fixed-size Eigen types.
Change-Id: I06c6c4fc74a6835918d5d1c571b7814a14c029d8
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
Enable use of dynamic number of residuals for autodiff.
Implemented with "Substitution failure is not an error" similar
to tiny_solver.h .
Move test from tiny_solver_test.cc to
tiny_solver_autodiff_function_test.cc .
Use cpplint.py from C++ Google Style Guide for formatting.
Change-Id: I2e1a159d17118552943c6ac7a833c5bbd0c927ec
Pez Firoozfam