mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Johannes Graeter
956fd1aca7
Enable use of dynamic number of residuals for autodiff. Implemented with "Substitution failure is not an error" similar to tiny_solver.h . Move test from tiny_solver_test.cc to tiny_solver_autodiff_function_test.cc . Use cpplint.py from C++ Google Style Guide for formatting. Change-Id: I2e1a159d17118552943c6ac7a833c5bbd0c927ec
64 lines
2.4 KiB
C++
64 lines
2.4 KiB
C++
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2017 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: mierle@gmail.com (Keir Mierle)
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#ifndef CERES_INTERNAL_TINY_SOLVER_TEST_UTIL_H_
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#define CERES_INTERNAL_TINY_SOLVER_TEST_UTIL_H_
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namespace ceres {
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template<typename T>
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bool EvaluateResidualsAndJacobians(const T* parameters,
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T* residuals,
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T* jacobian) {
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T x = parameters[0];
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T y = parameters[1];
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T z = parameters[2];
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residuals[0] = x + static_cast<T>(2) * y + static_cast<T>(4) * z;
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residuals[1] = y * z;
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if (jacobian) {
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jacobian[0 * 2 + 0] = static_cast<T>(1);
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jacobian[0 * 2 + 1] = static_cast<T>(0);
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jacobian[1 * 2 + 0] = static_cast<T>(2);
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jacobian[1 * 2 + 1] = z;
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jacobian[2 * 2 + 0] = static_cast<T>(4);
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jacobian[2 * 2 + 1] = y;
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}
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return true;
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}
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} // namespace ceres
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#endif // CERES_INTERNAL_TINY_SOLVER_TEST_UTIL_H_
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