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https://github.com/ceres-solver/ceres-solver.git
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Darius Rueckert
d160264403
The public API for the Autodiff Codegen system consist of a single function, GenerateCodeForFunctor. This function takes as template argument a cost functor type and the residual/parameter structure. The output is the C++ for the residual and derivative. This class mainly serves as a wrapper for the different codegen modules. Change-Id: I8ee974199219805d54eed5e07c0e8d1394940779
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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// A simple example showing how to generate code for a cost functor and save it
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// to a file. When running this example, the new file will be created in the
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// current working directory.
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//
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// We recommend to use the CMake integration instead of using the
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// AutoDiffCodeGenerator direclty.
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//
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#include "ceres/autodiff_codegen.h"
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struct SquareFunctor {
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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] = x[0] * x[0];
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return true;
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}
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};
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int main(int argc, char** argv) {
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std::vector<std::string> code =
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ceres::GenerateCodeForFunctor<SquareFunctor, 1, 1>(
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ceres::AutoDiffCodeGenOptions());
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for (auto str : code) {
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std::cout << str << std::endl;
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}
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return 0;
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}
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