| // Ceres Solver - A fast non-linear least squares minimizer | |
| // Copyright 2019 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 | |
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| // specific prior written permission. | |
| // | |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
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| // | |
| // Author: keir@google.com (Keir Mierle) | |
| // | |
| // A convenience class for cost functions which are statically sized. | |
| // Compared to the dynamically-sized base class, this reduces boilerplate. | |
| // | |
| // The kNumResiduals template parameter can be a constant such as 2 or 5, or it | |
| // can be ceres::DYNAMIC. If kNumResiduals is ceres::DYNAMIC, then subclasses | |
| // are responsible for calling set_num_residuals() at runtime. | |
| namespace ceres { | |
| template <int kNumResiduals, int... Ns> | |
| class SizedCostFunction : public CostFunction { | |
| public: | |
| static_assert(kNumResiduals > 0 || kNumResiduals == DYNAMIC, | |
| "Cost functions must have at least one residual block."); | |
| static_assert(internal::StaticParameterDims<Ns...>::kIsValid, | |
| "Invalid parameter block dimension detected. Each parameter " | |
| "block dimension must be bigger than zero."); | |
| using ParameterDims = internal::StaticParameterDims<Ns...>; | |
| SizedCostFunction() { | |
| set_num_residuals(kNumResiduals); | |
| *mutable_parameter_block_sizes() = std::vector<int32_t>{Ns...}; | |
| } | |
| // Subclasses must implement Evaluate(). | |
| }; | |
| } // namespace ceres | |