1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2019 Google Inc. All rights reserved. 3 // http://ceres-solver.org/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: sameeragarwal@google.com (Sameer Agarwal) 30 31 #ifndef CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_ 32 #define CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_ 33 34 #include "ceres/cost_function.h" 35 36 namespace ceres { 37 38 // A common base class for DynamicAutoDiffCostFunction and 39 // DynamicNumericDiffCostFunction which depend on methods that can add 40 // parameter blocks and set the number of residuals at run time. 41 class CERES_EXPORT DynamicCostFunction : public CostFunction { 42 public: ~DynamicCostFunction()43 ~DynamicCostFunction() {} 44 AddParameterBlock(int size)45 virtual void AddParameterBlock(int size) { 46 mutable_parameter_block_sizes()->push_back(size); 47 } 48 SetNumResiduals(int num_residuals)49 virtual void SetNumResiduals(int num_residuals) { 50 set_num_residuals(num_residuals); 51 } 52 }; 53 54 } // namespace ceres 55 56 #endif // CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_ 57