variadic_evaluate.h

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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
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// modification, are permitted provided that the following conditions are met:
//
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//   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
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//   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
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// Author: sameeragarwal@google.com (Sameer Agarwal)
//         mierle@gmail.com (Keir Mierle)
//         jodebo_beck@gmx.de (Johannes Beck)
 
#ifndef G2O_CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
#define G2O_CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
 
#include <stddef.h>
 
#include <type_traits>
#include <utility>
 
#include "parameter_dims.h"
 
namespace g2o {
namespace ceres {
namespace internal {
 
// For fixed size cost functors
template <typename Functor, typename T, int... Indices>
inline bool VariadicEvaluateImpl(const Functor& functor, T const* const* input,
                                 T* output, std::false_type /*is_dynamic*/,
                                 std::integer_sequence<int, Indices...>) {
  static_assert(sizeof...(Indices),
                "Invalid number of parameter blocks. At least one parameter "
                "block must be specified.");
  return functor(input[Indices]..., output);
}
 
// For dynamic sized cost functors
template <typename Functor, typename T>
inline bool VariadicEvaluateImpl(const Functor& functor, T const* const* input,
                                 T* output, std::true_type /*is_dynamic*/,
                                 std::integer_sequence<int>) {
  return functor(input, output);
}
 
// For ceres cost functors (not ceres::CostFunction)
template <typename ParameterDims, typename Functor, typename T>
inline bool VariadicEvaluateImpl(const Functor& functor, T const* const* input,
                                 T* output, const void* /* NOT USED */) {
  using ParameterBlockIndices =
      std::make_integer_sequence<int, ParameterDims::kNumParameterBlocks>;
  using IsDynamic = std::integral_constant<bool, ParameterDims::kIsDynamic>;
  return VariadicEvaluateImpl(functor, input, output, IsDynamic(),
                              ParameterBlockIndices());
}
 
// For ceres::CostFunction
// template <typename ParameterDims, typename Functor, typename T>
// inline bool VariadicEvaluateImpl(const Functor& functor,
//                                  T const* const* input,
//                                  T* output,
//                                  const CostFunction* /* NOT USED */) {
//   return functor.Evaluate(input, output, nullptr);
// }
 
// Variadic evaluate is a helper function to evaluate ceres cost function or
// functors using an input, output and the parameter dimensions. There are
// several ways different possibilities:
// 1) If the passed functor is a 'ceres::CostFunction' its evaluate method is
// called.
// 2) If the functor is not a 'ceres::CostFunction' and the specified parameter
// dims is dynamic, the functor must have the following signature
// 'bool(T const* const* input, T* output)'.
// 3) If the functor is not a 'ceres::CostFunction' and the specified parameter
// dims is not dynamic, the input is expanded by using the number of parameter
// blocks. The signature of the functor must have the following signature
// 'bool()(const T* i_1, const T* i_2, ... const T* i_n, T* output)'.
template <typename ParameterDims, typename Functor, typename T>
inline bool VariadicEvaluate(const Functor& functor, T const* const* input,
                             T* output) {
  return VariadicEvaluateImpl<ParameterDims>(functor, input, output, &functor);
}
 
}  // namespace internal
}  // namespace ceres
}  // namespace g2o
 
#endif  // G2O_CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_