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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2020 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: darius.rueckert@fau.de (Darius Rueckert)
//
//
#ifndef CERES_INTERNAL_AUTODIFF_BENCHMARKS_CONSTANT_COST_FUNCTIONS_H_
#define CERES_INTERNAL_AUTODIFF_BENCHMARKS_CONSTANT_COST_FUNCTIONS_H_
#include "ceres/sized_cost_function.h"
namespace ceres {
template <int kParameterBlockSize>
struct ConstantCostFunction {
template <typename T>
inline bool operator()(const T* const x, T* residuals) const {
residuals[0] = T(5);
return true;
}
};
template <int kParameterBlockSize>
struct AnalyticConstantCostFunction
: public ceres::SizedCostFunction<1, kParameterBlockSize> {
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
residuals[0] = 5.0;
if (jacobians) {
if (jacobians[0]) {
memset(jacobians[0], 0, sizeof(double) * kParameterBlockSize);
}
}
return true;
}
};
} // namespace ceres
#endif // CERES_INTERNAL_AUTODIFF_BENCHMARKS_CONSTANT_COST_FUNCTIONS_H_
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