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https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Pez Firoozfam
806af056fe
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