gtsam
3rdparty
ceres
ceres/macros.h
Go to the documentation of this file.
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
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
//
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]
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:02:44