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https://github.com/ceres-solver/ceres-solver.git
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Darius Rueckert
032d5844c2
This patch integrates the code generation module into the build system. All depenendcies are tracked through CMake targets. Modifying the cost functor will automatically trigger code re-generation. All this functionality is defined in the CMake function ceres_generate_cost_function_implementation_for_functor in CeresCodeGeneration.cmake. A hello world usage example is included in examples/CMakeLists.txt. Change-Id: I23b8b6698d1ea51cf3d788a47afcf39f8c5ce327
57 lines
2.4 KiB
C++
57 lines
2.4 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2019 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: darius.rueckert@fau.de (Darius Rueckert)
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//
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#include "ceres/codegen/codegen_cost_function.h"
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namespace helloworld {
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struct HelloWorldCostFunction : public ceres::CodegenCostFunction<1, 1> {
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// We need a default constructor, because code is generated for the cost
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// functor and not a specific instantiation of it.
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HelloWorldCostFunction() = default;
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explicit HelloWorldCostFunction(double target_value)
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: target_value_(target_value) {}
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template <typename T>
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bool operator()(const T* x, T* residual) const {
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residual[0] = CERES_LOCAL_VARIABLE(T, target_value_) - x[0];
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return true;
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}
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// The include file name is automatically generated as
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// "<output_dir>/<lower_case_class_name>.h"
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#include "examples/helloworldcostfunction.h"
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private:
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double target_value_;
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};
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} // namespace helloworld
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