1// Ceres Solver - A fast non-linear least squares minimizer
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3// http://code.google.com/p/ceres-solver/
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28//
29// Author: keir@google.com (Keir Mierle)
30//
31// A convenience class for cost functions which are statically sized.
32// Compared to the dynamically-sized base class, this reduces boilerplate.
33//
34// The kNumResiduals template parameter can be a constant such as 2 or 5, or it
35// can be ceres::DYNAMIC. If kNumResiduals is ceres::DYNAMIC, then subclasses
36// are responsible for calling set_num_residuals() at runtime.
37
38#ifndef CERES_PUBLIC_SIZED_COST_FUNCTION_H_
39#define CERES_PUBLIC_SIZED_COST_FUNCTION_H_
40
41#include "ceres/types.h"
42#include "ceres/cost_function.h"
43#include "glog/logging.h"
44
45namespace ceres {
46
47template<int kNumResiduals,
48         int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
49         int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
50class SizedCostFunction : public CostFunction {
51 public:
52  SizedCostFunction() {
53    CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC)
54        << "Cost functions must have at least one residual block.";
55
56    // This block breaks the 80 column rule to keep it somewhat readable.
57    CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
58           ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
59           ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
60           ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
61           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) ||
62           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) ||
63           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) ||
64           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) ||
65           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) ||
66           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0)))
67        << "Zero block cannot precede a non-zero block. Block sizes are "
68        << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
69        << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
70        << N8 << ", " << N9;
71
72    set_num_residuals(kNumResiduals);
73
74#define ADD_PARAMETER_BLOCK(N) \
75    if (N) mutable_parameter_block_sizes()->push_back(N);
76    ADD_PARAMETER_BLOCK(N0);
77    ADD_PARAMETER_BLOCK(N1);
78    ADD_PARAMETER_BLOCK(N2);
79    ADD_PARAMETER_BLOCK(N3);
80    ADD_PARAMETER_BLOCK(N4);
81    ADD_PARAMETER_BLOCK(N5);
82    ADD_PARAMETER_BLOCK(N6);
83    ADD_PARAMETER_BLOCK(N7);
84    ADD_PARAMETER_BLOCK(N8);
85    ADD_PARAMETER_BLOCK(N9);
86#undef ADD_PARAMETER_BLOCK
87  }
88
89  virtual ~SizedCostFunction() { }
90
91  // Subclasses must implement Evaluate().
92};
93
94}  // namespace ceres
95
96#endif  // CERES_PUBLIC_SIZED_COST_FUNCTION_H_
97