ceres-solver/include/ceres/internal/expression_ref.h

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2019 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
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//
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//   this list of conditions and the following disclaimer.
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// Author: darius.rueckert@fau.de (Darius Rueckert)
//
// TODO: Documentation
#ifndef CERES_PUBLIC_EXPRESSION_REF_H_
#define CERES_PUBLIC_EXPRESSION_REF_H_

#include <string>
#include "ceres/jet.h"
#include "expression.h"

namespace ceres {
namespace internal {

// This class represents a scalar value that creates new expressions during
// evaluation. ExpressionRef can be used as template parameter for cost functors
// and Jets.
//
// ExpressionRef should be passed by value.
struct ExpressionRef {
  ExpressionRef() = default;

  // Create a compile time constant expression directly from a double value.
  // This is important so that we can write T(3.14) in our code and
  // it's automatically converted to the correct expression.
  explicit ExpressionRef(double compile_time_constant);

  // Returns v_id
  std::string ToString() const;

  // Compound operators
  ExpressionRef& operator+=(ExpressionRef x);
  ExpressionRef& operator-=(ExpressionRef x);
  ExpressionRef& operator*=(ExpressionRef x);
  ExpressionRef& operator/=(ExpressionRef x);

  // The index into the ExpressionGraph data array.
  ExpressionId id = kInvalidExpressionId;

  static ExpressionRef Create(ExpressionId id);
};

// Arithmetic Operators
ExpressionRef operator-(ExpressionRef x);
ExpressionRef operator+(ExpressionRef x);
ExpressionRef operator+(ExpressionRef x, ExpressionRef y);
ExpressionRef operator-(ExpressionRef x, ExpressionRef y);
ExpressionRef operator*(ExpressionRef x, ExpressionRef y);
ExpressionRef operator/(ExpressionRef x, ExpressionRef y);

// Functions
// TODO: Add all function supported by Jet.
ExpressionRef sin(ExpressionRef x);

// This additonal type is required, so that we can detect invalid conditions
// during compile time. For example, the following should create a compile time
// error:
//
//   ExpressionRef a(5);
//   CERES_IF(a){           // Error: Invalid conversion
//   ...
//
// Following will work:
//
//   ExpressionRef a(5), b(7);
//   ComparisonExpressionRef c = a < b;
//   CERES_IF(c){
//   ...
struct ComparisonExpressionRef {
  ExpressionId id;
  explicit ComparisonExpressionRef(ExpressionRef ref) : id(ref.id) {}
};

ExpressionRef Ternary(ComparisonExpressionRef c,
                      ExpressionRef a,
                      ExpressionRef b);

// Comparison operators
ComparisonExpressionRef operator<(ExpressionRef a, ExpressionRef b);
ComparisonExpressionRef operator<=(ExpressionRef a, ExpressionRef b);
ComparisonExpressionRef operator>(ExpressionRef a, ExpressionRef b);
ComparisonExpressionRef operator>=(ExpressionRef a, ExpressionRef b);
ComparisonExpressionRef operator==(ExpressionRef a, ExpressionRef b);
ComparisonExpressionRef operator!=(ExpressionRef a, ExpressionRef b);

// Logical Operators
ComparisonExpressionRef operator&&(ComparisonExpressionRef a,
                                   ComparisonExpressionRef b);
ComparisonExpressionRef operator||(ComparisonExpressionRef a,
                                   ComparisonExpressionRef b);
ComparisonExpressionRef operator!(ComparisonExpressionRef a);

// This struct is used to mark numbers which are constant over
// multiple invocations but can differ between instances.
template <typename T>
struct RuntimeConstant {
  using ReturnType = T;
  static inline ReturnType Get(double v, const char* name) { return v; }
};

template <typename G, int N>
struct RuntimeConstant<Jet<G, N>> {
  using ReturnType = Jet<G, N>;
  static inline Jet<G, N> Get(double v, const char* name) {
    return Jet<G, N>(v);
  }
};

template <int N>
struct RuntimeConstant<Jet<ExpressionRef, N>> {
  using ReturnType = Jet<ExpressionRef, N>;
  static inline ReturnType Get(double v, const char* name) {
    // Note: The scalar value of v will be thrown away, because we don't need it
    // during code generation.
    (void)v;
    return Jet<ExpressionRef, N>(Expression::CreateRuntimeConstant(name));
  }
};

template <typename T>
inline typename RuntimeConstant<T>::ReturnType MakeRuntimeConstant(
    double v, const char* name) {
  return RuntimeConstant<T>::Get(v, name);
}

#define CERES_EXPRESSION_RUNTIME_CONSTANT(_v) \
  ceres::internal::MakeRuntimeConstant<T>(_v, #_v)
}  // namespace internal

// See jet.h for more info on this type.
template <>
struct ComparisonReturnType<internal::ExpressionRef> {
  using type = internal::ComparisonExpressionRef;
};

}  // namespace ceres
#endif