mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sergiu Deitsch
182cb01c57
Complete support for all floating-point classification functions (fpclassify, signbit) and consistently apply all overloads recursively to the scalar part of a Jet only. This is now inline with how comparison operators work. Sanity checks of derivatives should be performed explicitly on the dual part of a Jet due an ambiguity on reducing the classification results of multiple values. Provide an fdim overload (in addition to fmin and fmax) and support quiet versions of comparison operators also applied recursively to the scalar part of a Jet but without type promotion. Additionally, deprecate Ceres legacy classification functions. New code should use C++11 function names for consistency. Finally, simplify expressions using introduced scalar classification and comparison. Change-Id: I397e37425760717b991eb7ae5da0892f20c5a365
224 lines
7.7 KiB
C++
224 lines
7.7 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2022 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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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: sergiu.deitsch@gmail.com (Sergiu Deitsch)
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//
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#ifndef CERES_PUBLIC_INTERNAL_JET_TRAITS_H_
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#define CERES_PUBLIC_INTERNAL_JET_TRAITS_H_
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#include <tuple>
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#include <type_traits>
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#include <utility>
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#include "ceres/internal/integer_sequence_algorithm.h"
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#include "ceres/jet_fwd.h"
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namespace ceres {
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namespace internal {
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// Predicate that determines whether T is a Jet.
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template <typename T, typename E = void>
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struct IsJet : std::false_type {};
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template <typename T, int N>
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struct IsJet<Jet<T, N>> : std::true_type {};
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// Convenience variable template for IsJet.
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template <typename T>
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constexpr bool IsJet_v = IsJet<T>::value;
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// Predicate that determines whether any of the Types is a Jet.
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template <typename... Types>
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struct AreAnyJet : std::false_type {};
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template <typename T, typename... Types>
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struct AreAnyJet<T, Types...> : AreAnyJet<Types...> {};
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template <typename T, int N, typename... Types>
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struct AreAnyJet<Jet<T, N>, Types...> : std::true_type {};
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// Convenience variable template for AreAnyJet.
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template <typename... Types>
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constexpr bool AreAnyJet_v = AreAnyJet<Types...>::value;
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// Extracts the underlying floating-point from a type T.
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template <typename T, typename E = void>
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struct UnderlyingScalar {
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using type = T;
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};
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template <typename T, int N>
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struct UnderlyingScalar<Jet<T, N>> : UnderlyingScalar<T> {};
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// Convenience template alias for UnderlyingScalar type trait.
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template <typename T>
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using UnderlyingScalar_t = typename UnderlyingScalar<T>::type;
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// Predicate determining whether all Types in the pack are the same.
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//
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// Specifically, the predicate applies std::is_same recursively to pairs of
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// Types in the pack.
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//
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// The predicate is defined only for template packs containing at least two
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// types.
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template <typename T1, typename T2, typename... Types>
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// clang-format off
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struct AreAllSame : std::integral_constant
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<
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bool,
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AreAllSame<T1, T2>::value &&
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AreAllSame<T2, Types...>::value
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>
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// clang-format on
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{};
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// AreAllSame pairwise test.
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template <typename T1, typename T2>
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struct AreAllSame<T1, T2> : std::is_same<T1, T2> {};
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// Convenience variable template for AreAllSame.
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template <typename... Types>
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constexpr bool AreAllSame_v = AreAllSame<Types...>::value;
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// Determines the rank of a type. This allows to ensure that types passed as
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// arguments are compatible to each other. The rank of Jet is determined by the
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// dimensions of the dual part. The rank of a scalar is always 0.
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// Non-specialized types default to a rank of -1.
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template <typename T, typename E = void>
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struct Rank : std::integral_constant<int, -1> {};
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// The rank of a scalar is 0.
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template <typename T>
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struct Rank<T, std::enable_if_t<std::is_scalar<T>::value>>
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: std::integral_constant<int, 0> {};
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// The rank of a Jet is given by its dimensionality.
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template <typename T, int N>
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struct Rank<Jet<T, N>> : std::integral_constant<int, N> {};
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// Convenience variable template for Rank.
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template <typename T>
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constexpr int Rank_v = Rank<T>::value;
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// Constructs an integer sequence of ranks for each of the Types in the pack.
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template <typename... Types>
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using Ranks_t = std::integer_sequence<int, Rank_v<Types>...>;
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// Returns the scalar part of a type. This overload acts as an identity.
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template <typename T>
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constexpr decltype(auto) AsScalar(T&& value) noexcept {
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return std::forward<T>(value);
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}
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// Recursively unwraps the scalar part of a Jet until a non-Jet scalar type is
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// encountered.
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template <typename T, int N>
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constexpr decltype(auto) AsScalar(const Jet<T, N>& value) noexcept(
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noexcept(AsScalar(value.a))) {
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return AsScalar(value.a);
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}
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} // namespace internal
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// Type trait ensuring at least one of the types is a Jet,
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// the underlying scalar types are the same and Jet dimensions match.
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//
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// The type trait can be further specialized if necessary.
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//
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// This trait is a candidate for a concept definition once C++20 features can
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// be used.
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template <typename... Types>
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// clang-format off
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struct CompatibleJetOperands : std::integral_constant
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<
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bool,
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// At least one of the types is a Jet
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internal::AreAnyJet_v<Types...> &&
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// The underlying floating-point types are exactly the same
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internal::AreAllSame_v<internal::UnderlyingScalar_t<Types>...> &&
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// Non-zero ranks of types are equal
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internal::IsEmptyOrAreAllEqual_v<internal::RemoveValue_t<internal::Ranks_t<Types...>, 0>>
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>
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// clang-format on
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{};
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// Single Jet operand is always compatible.
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template <typename T, int N>
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struct CompatibleJetOperands<Jet<T, N>> : std::true_type {};
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// Single non-Jet operand is always incompatible.
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template <typename T>
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struct CompatibleJetOperands<T> : std::false_type {};
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// Empty operands are always incompatible.
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template <>
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struct CompatibleJetOperands<> : std::false_type {};
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// Convenience variable template ensuring at least one of the types is a Jet,
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// the underlying scalar types are the same and Jet dimensions match.
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//
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// This trait is a candidate for a concept definition once C++20 features can
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// be used.
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template <typename... Types>
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constexpr bool CompatibleJetOperands_v = CompatibleJetOperands<Types...>::value;
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// Type trait ensuring at least one of the types is a Jet,
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// the underlying scalar types are compatible among each other and Jet
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// dimensions match.
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//
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// The type trait can be further specialized if necessary.
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//
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// This trait is a candidate for a concept definition once C++20 features can
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// be used.
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template <typename... Types>
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// clang-format off
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struct PromotableJetOperands : std::integral_constant
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<
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bool,
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// Types can be compatible among each other
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internal::AreAnyJet_v<Types...> &&
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// Non-zero ranks of types are equal
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internal::IsEmptyOrAreAllEqual_v<internal::RemoveValue_t<internal::Ranks_t<Types...>, 0>>
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>
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// clang-format on
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{};
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// Convenience variable template ensuring at least one of the types is a Jet,
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// the underlying scalar types are compatible among each other and Jet
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// dimensions match.
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//
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// This trait is a candidate for a concept definition once C++20 features can
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// be used.
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template <typename... Types>
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constexpr bool PromotableJetOperands_v = PromotableJetOperands<Types...>::value;
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} // namespace ceres
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#endif // CERES_PUBLIC_INTERNAL_JET_TRAITS_H_
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