ceres/macros.h
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1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
3 // http://code.google.com/p/ceres-solver/
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
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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 //
30 // Various Google-specific macros.
31 //
32 // This code is compiled directly on many platforms, including client
33 // platforms like Windows, Mac, and embedded systems. Before making
34 // any changes here, make sure that you're not breaking any platforms.
35 
36 #ifndef CERES_PUBLIC_INTERNAL_MACROS_H_
37 #define CERES_PUBLIC_INTERNAL_MACROS_H_
38 
39 #include <cstddef> // For size_t.
40 
41 // A macro to disallow the copy constructor and operator= functions
42 // This should be used in the private: declarations for a class
43 //
44 // For disallowing only assign or copy, write the code directly, but declare
45 // the intend in a comment, for example:
46 //
47 // void operator=(const TypeName&); // _DISALLOW_ASSIGN
48 
49 // Note, that most uses of CERES_DISALLOW_ASSIGN and CERES_DISALLOW_COPY
50 // are broken semantically, one should either use disallow both or
51 // neither. Try to avoid these in new code.
52 #define CERES_DISALLOW_COPY_AND_ASSIGN(TypeName) \
53  TypeName(const TypeName&); \
54  void operator=(const TypeName&)
55 
56 // A macro to disallow all the implicit constructors, namely the
57 // default constructor, copy constructor and operator= functions.
58 //
59 // This should be used in the private: declarations for a class
60 // that wants to prevent anyone from instantiating it. This is
61 // especially useful for classes containing only static methods.
62 #define CERES_DISALLOW_IMPLICIT_CONSTRUCTORS(TypeName) \
63  TypeName(); \
64  CERES_DISALLOW_COPY_AND_ASSIGN(TypeName)
65 
66 // The arraysize(arr) macro returns the # of elements in an array arr.
67 // The expression is a compile-time constant, and therefore can be
68 // used in defining new arrays, for example. If you use arraysize on
69 // a pointer by mistake, you will get a compile-time error.
70 //
71 // One caveat is that arraysize() doesn't accept any array of an
72 // anonymous type or a type defined inside a function. In these rare
73 // cases, you have to use the unsafe ARRAYSIZE() macro below. This is
74 // due to a limitation in C++'s template system. The limitation might
75 // eventually be removed, but it hasn't happened yet.
76 
77 // This template function declaration is used in defining arraysize.
78 // Note that the function doesn't need an implementation, as we only
79 // use its type.
80 template <typename T, size_t N>
81 char (&ArraySizeHelper(T (&array)[N]))[N];
82 
83 // That gcc wants both of these prototypes seems mysterious. VC, for
84 // its part, can't decide which to use (another mystery). Matching of
85 // template overloads: the final frontier.
86 #ifndef _WIN32
87 template <typename T, size_t N>
88 char (&ArraySizeHelper(const T (&array)[N]))[N];
89 #endif
90 
91 #define arraysize(array) (sizeof(ArraySizeHelper(array)))
92 
93 // ARRAYSIZE performs essentially the same calculation as arraysize,
94 // but can be used on anonymous types or types defined inside
95 // functions. It's less safe than arraysize as it accepts some
96 // (although not all) pointers. Therefore, you should use arraysize
97 // whenever possible.
98 //
99 // The expression ARRAYSIZE(a) is a compile-time constant of type
100 // size_t.
101 //
102 // ARRAYSIZE catches a few type errors. If you see a compiler error
103 //
104 // "warning: division by zero in ..."
105 //
106 // when using ARRAYSIZE, you are (wrongfully) giving it a pointer.
107 // You should only use ARRAYSIZE on statically allocated arrays.
108 //
109 // The following comments are on the implementation details, and can
110 // be ignored by the users.
111 //
112 // ARRAYSIZE(arr) works by inspecting sizeof(arr) (the # of bytes in
113 // the array) and sizeof(*(arr)) (the # of bytes in one array
114 // element). If the former is divisible by the latter, perhaps arr is
115 // indeed an array, in which case the division result is the # of
116 // elements in the array. Otherwise, arr cannot possibly be an array,
117 // and we generate a compiler error to prevent the code from
118 // compiling.
119 //
120 // Since the size of bool is implementation-defined, we need to cast
121 // !(sizeof(a) & sizeof(*(a))) to size_t in order to ensure the final
122 // result has type size_t.
123 //
124 // This macro is not perfect as it wrongfully accepts certain
125 // pointers, namely where the pointer size is divisible by the pointee
126 // size. Since all our code has to go through a 32-bit compiler,
127 // where a pointer is 4 bytes, this means all pointers to a type whose
128 // size is 3 or greater than 4 will be (righteously) rejected.
129 //
130 // Kudos to Jorg Brown for this simple and elegant implementation.
131 //
132 // - wan 2005-11-16
133 //
134 // Starting with Visual C++ 2005, WinNT.h includes ARRAYSIZE. However,
135 // the definition comes from the over-broad windows.h header that
136 // introduces a macro, ERROR, that conflicts with the logging framework
137 // that Ceres uses. Instead, rename ARRAYSIZE to CERES_ARRAYSIZE.
138 #define CERES_ARRAYSIZE(a) \
139  ((sizeof(a) / sizeof(*(a))) / \
140  static_cast<size_t>(!(sizeof(a) % sizeof(*(a)))))
141 
142 // Tell the compiler to warn about unused return values for functions
143 // declared with this macro. The macro should be used on function
144 // declarations following the argument list:
145 //
146 // Sprocket* AllocateSprocket() MUST_USE_RESULT;
147 //
148 #if (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) \
149  && !defined(COMPILER_ICC)
150 #define CERES_MUST_USE_RESULT __attribute__ ((warn_unused_result))
151 #else
152 #define CERES_MUST_USE_RESULT
153 #endif
154 
155 // Platform independent macros to get aligned memory allocations.
156 // For example
157 //
158 // MyFoo my_foo CERES_ALIGN_ATTRIBUTE(16);
159 //
160 // Gives us an instance of MyFoo which is aligned at a 16 byte
161 // boundary.
162 #if defined(_MSC_VER)
163 #define CERES_ALIGN_ATTRIBUTE(n) __declspec(align(n))
164 #define CERES_ALIGN_OF(T) __alignof(T)
165 #elif defined(__GNUC__)
166 #define CERES_ALIGN_ATTRIBUTE(n) __attribute__((aligned(n)))
167 #define CERES_ALIGN_OF(T) __alignof(T)
168 #endif
169 
170 #endif // CERES_PUBLIC_INTERNAL_MACROS_H_
Eigen::Triplet
A small structure to hold a non zero as a triplet (i,j,value).
Definition: SparseUtil.h:162
array
Definition: numpy.h:821
N
#define N
Definition: igam.h:9
ArraySizeHelper
char(& ArraySizeHelper(T(&array)[N]))[N]


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