mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sergiu Deitsch
7743d2e73c
Since the number of manifolds used to initialize ProductManifold and their types are known at compile-time, it is possible to avoid storing pointers to the base class as required by a homogeneous, currently dynamically sized container. Instead, we can use std::tuple<> as a heterogenous container with the number of elements fixed at compile-time that allows us to store the concrete manifold realizations. The advantage of this approach is that we can bypass the vtable when iterating over each manifold within ProductManifold. The indirection is invoked only once while accessing the ProductManifoldImpl members. Additionally, potential dynamic memory allocations by a std::vector can be completely avoided. This makes the ProductManifold implementation more efficient both in memory and runtime. Change-Id: Ic71b0c175ab726f8992e9703f7666bca477baf19
75 lines
3.2 KiB
C
75 lines
3.2 KiB
C
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2022 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: keir@google.com (Keir Mierle)
|
|
//
|
|
// This is a forwarding header containing the public symbols exported from
|
|
// Ceres. Anything in the "ceres" namespace is available for use.
|
|
|
|
#ifndef CERES_PUBLIC_CERES_H_
|
|
#define CERES_PUBLIC_CERES_H_
|
|
|
|
#include "ceres/autodiff_cost_function.h"
|
|
#include "ceres/autodiff_first_order_function.h"
|
|
#include "ceres/autodiff_local_parameterization.h"
|
|
#include "ceres/autodiff_manifold.h"
|
|
#include "ceres/conditioned_cost_function.h"
|
|
#include "ceres/context.h"
|
|
#include "ceres/cost_function.h"
|
|
#include "ceres/cost_function_to_functor.h"
|
|
#include "ceres/covariance.h"
|
|
#include "ceres/crs_matrix.h"
|
|
#include "ceres/dynamic_autodiff_cost_function.h"
|
|
#include "ceres/dynamic_cost_function.h"
|
|
#include "ceres/dynamic_cost_function_to_functor.h"
|
|
#include "ceres/dynamic_numeric_diff_cost_function.h"
|
|
#include "ceres/evaluation_callback.h"
|
|
#include "ceres/first_order_function.h"
|
|
#include "ceres/gradient_checker.h"
|
|
#include "ceres/gradient_problem.h"
|
|
#include "ceres/gradient_problem_solver.h"
|
|
#include "ceres/iteration_callback.h"
|
|
#include "ceres/jet.h"
|
|
#include "ceres/line_manifold.h"
|
|
#include "ceres/local_parameterization.h"
|
|
#include "ceres/loss_function.h"
|
|
#include "ceres/manifold.h"
|
|
#include "ceres/numeric_diff_cost_function.h"
|
|
#include "ceres/numeric_diff_first_order_function.h"
|
|
#include "ceres/numeric_diff_options.h"
|
|
#include "ceres/ordered_groups.h"
|
|
#include "ceres/problem.h"
|
|
#include "ceres/product_manifold.h"
|
|
#include "ceres/sized_cost_function.h"
|
|
#include "ceres/solver.h"
|
|
#include "ceres/sphere_manifold.h"
|
|
#include "ceres/types.h"
|
|
#include "ceres/version.h"
|
|
|
|
#endif // CERES_PUBLIC_CERES_H_
|