mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
caf614a6c1
Mostly done using
find . \( -name '*.cc' -o -name '*.h' \) -a -type f -exec clang-tidy -p \
cmake-build -checks='-*,google-*,modernize-*,-modernize-use-nodiscard,-modernize-use-trailing-return-type' {} -fix \;
Change-Id: Ifccbcabe7a1d9a32a09d28ac4f3f8466696c1a50
59 lines
1.8 KiB
C++
59 lines
1.8 KiB
C++
#include "ceres/internal/export.h"
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#include "ceres/local_parameterization.h"
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#include "ceres/manifold.h"
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#include "glog/logging.h"
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namespace ceres::internal {
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// Adapter to wrap LocalParameterization and make them look like Manifolds.
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//
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// ManifoldAdapter NEVER takes ownership of local_parameterization.
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class CERES_NO_EXPORT ManifoldAdapter final : public Manifold {
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public:
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explicit ManifoldAdapter(const LocalParameterization* local_parameterization)
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: local_parameterization_(local_parameterization) {
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CHECK(local_parameterization != nullptr);
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}
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bool Plus(const double* x,
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const double* delta,
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double* x_plus_delta) const override {
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return local_parameterization_->Plus(x, delta, x_plus_delta);
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}
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bool PlusJacobian(const double* x, double* jacobian) const override {
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return local_parameterization_->ComputeJacobian(x, jacobian);
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}
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bool RightMultiplyByPlusJacobian(const double* x,
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const int num_rows,
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const double* ambient_matrix,
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double* tangent_matrix) const override {
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return local_parameterization_->MultiplyByJacobian(
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x, num_rows, ambient_matrix, tangent_matrix);
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}
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bool Minus(const double* y, const double* x, double* delta) const override {
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LOG(FATAL) << "This should never be called.";
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return false;
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}
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bool MinusJacobian(const double* x, double* jacobian) const override {
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LOG(FATAL) << "This should never be called.";
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return false;
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}
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int AmbientSize() const override {
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return local_parameterization_->GlobalSize();
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}
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int TangentSize() const override {
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return local_parameterization_->LocalSize();
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}
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private:
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const LocalParameterization* local_parameterization_;
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};
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} // namespace ceres::internal
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