ResidualBlock evaluation has logic to ensure that CostFunction
should always fill out the residual and jacobian arrays completely
by using a special value to pre-populate these arrays.
This works for CostFunctions with analytical Jacobians but not for
AutoDiffCostFunction and NumericDiffCostFunction Jacobians.
There is no way to fix this for NumericDiffCostFunctions without
introducing significant performance penalties but the residual
evaluation fails, which should be enough to catch such errors.
For AutoDiffCostFunction the way the Jets are default initialized
was sidestepping this check. So now, the Jet that is used to
capture the output residuals is now initialized with
kImpossibleValue, which will ensure that if the user forgets
to fill all output fields, it triggers an evaluation error.
This change required that ceres::internal::kImpossibleValue be moved
out of array_utils.h/cc to types.h.
Change-Id: I35bb0946cf0785a5d43c7b5459a2272848fb2a9b
Since Ceres is moving to using GitHub for issues, and the Google
Code URL in the current copyright header will soon become invalid,
update all the headers.
Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
For historical reasons we had a "using namespace std;" in port.h. This
is generally a bad idea. So removing it and along the way doing a bunch
of cpplint cleanup.
Change-Id: Ia125601a55ae62695e247fb0250df4c6f86c46c6
more than just the residual block evaluation routines now.
Check the step computed by the linear solver for finiteness, and terminate early
if it is not. This will prevent bugs where the solver continues to run after
encountering an nan.
Kuang Fangjun