mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Nikolaus Demmel
7b8f675bfd
- Change formatting standard to Cpp11. Main difference is not having the space between two closing >> for nested templates. We don't choose c++14, because older versions of clang-format (version 9 and earlier) don't know this value yet, and it doesn't make a difference in the formatting. - Apply clang-format to all (non generated) internal source files. - Manually fix some code sections (clang-format on/off) and c-strings - Exclude some embedded external files with very different formatting (gtest/gmock) - Add script to format all source files Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
100 lines
3.9 KiB
C++
100 lines
3.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 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: sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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#define CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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#include <map>
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#include <string>
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#include "ceres/evaluator.h"
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#include "ceres/execution_summary.h"
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#include "ceres/gradient_problem.h"
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#include "ceres/internal/port.h"
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#include "ceres/wall_time.h"
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namespace ceres {
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namespace internal {
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class GradientProblemEvaluator : public Evaluator {
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public:
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explicit GradientProblemEvaluator(const GradientProblem& problem)
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: problem_(problem) {}
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virtual ~GradientProblemEvaluator() {}
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SparseMatrix* CreateJacobian() const final { return nullptr; }
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bool Evaluate(const EvaluateOptions& evaluate_options,
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const double* state,
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double* cost,
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double* residuals,
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double* gradient,
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SparseMatrix* jacobian) final {
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CHECK(jacobian == NULL);
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ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_);
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// The reason we use Residual and Jacobian here even when we are
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// only computing the cost and gradient has to do with the fact
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// that the line search minimizer code is used by both the
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// GradientProblemSolver and the main CeresSolver coder where the
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// Evaluator evaluates the Jacobian, and these magic strings need
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// to be consistent across the code base for the time accounting
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// to work.
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ScopedExecutionTimer call_type_timer(
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gradient == NULL ? "Evaluator::Residual" : "Evaluator::Jacobian",
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&execution_summary_);
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return problem_.Evaluate(state, cost, gradient);
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}
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bool Plus(const double* state,
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const double* delta,
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double* state_plus_delta) const final {
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return problem_.Plus(state, delta, state_plus_delta);
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}
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int NumParameters() const final { return problem_.NumParameters(); }
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int NumEffectiveParameters() const final {
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return problem_.NumLocalParameters();
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}
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int NumResiduals() const final { return 1; }
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std::map<std::string, internal::CallStatistics> Statistics() const final {
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return execution_summary_.statistics();
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}
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private:
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const GradientProblem& problem_;
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::ceres::internal::ExecutionSummary execution_summary_;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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