manual_constructor.h
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29 // Author: kenton@google.com (Kenton Varda)
30 //
31 // ManualConstructor statically-allocates space in which to store some
32 // object, but does not initialize it. You can then call the constructor
33 // and destructor for the object yourself as you see fit. This is useful
34 // for memory management optimizations, where you want to initialize and
35 // destroy an object multiple times but only allocate it once.
36 //
37 // (When I say ManualConstructor statically allocates space, I mean that
38 // the ManualConstructor object itself is forced to be the right size.)
39 
40 #ifndef CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
41 #define CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
42 
43 #include <new>
44 
45 namespace ceres {
46 namespace internal {
47 
48 // ------- Define CERES_ALIGNED_CHAR_ARRAY --------------------------------
49 
50 #ifndef CERES_ALIGNED_CHAR_ARRAY
51 
52 // Because MSVC and older GCCs require that the argument to their alignment
53 // construct to be a literal constant integer, we use a template instantiated
54 // at all the possible powers of two.
55 template<int alignment, int size> struct AlignType { };
56 template<int size> struct AlignType<0, size> { typedef char result[size]; };
57 
58 #if !defined(CERES_ALIGN_ATTRIBUTE)
59 #define CERES_ALIGNED_CHAR_ARRAY you_must_define_CERES_ALIGNED_CHAR_ARRAY_for_your_compiler
60 #else // !defined(CERES_ALIGN_ATTRIBUTE)
61 
62 #define CERES_ALIGN_TYPE_TEMPLATE(X) \
63  template<int size> struct AlignType<X, size> { \
64  typedef CERES_ALIGN_ATTRIBUTE(X) char result[size]; \
65  }
66 
67 CERES_ALIGN_TYPE_TEMPLATE(1);
68 CERES_ALIGN_TYPE_TEMPLATE(2);
69 CERES_ALIGN_TYPE_TEMPLATE(4);
70 CERES_ALIGN_TYPE_TEMPLATE(8);
71 CERES_ALIGN_TYPE_TEMPLATE(16);
72 CERES_ALIGN_TYPE_TEMPLATE(32);
73 CERES_ALIGN_TYPE_TEMPLATE(64);
74 CERES_ALIGN_TYPE_TEMPLATE(128);
75 CERES_ALIGN_TYPE_TEMPLATE(256);
76 CERES_ALIGN_TYPE_TEMPLATE(512);
77 CERES_ALIGN_TYPE_TEMPLATE(1024);
78 CERES_ALIGN_TYPE_TEMPLATE(2048);
79 CERES_ALIGN_TYPE_TEMPLATE(4096);
80 CERES_ALIGN_TYPE_TEMPLATE(8192);
81 // Any larger and MSVC++ will complain.
82 
83 #undef CERES_ALIGN_TYPE_TEMPLATE
84 
85 #define CERES_ALIGNED_CHAR_ARRAY(T, Size) \
86  typename AlignType<CERES_ALIGN_OF(T), sizeof(T) * Size>::result
87 
88 #endif // !defined(CERES_ALIGN_ATTRIBUTE)
89 
90 #endif // CERES_ALIGNED_CHAR_ARRAY
91 
92 template <typename Type>
94  public:
95  // No constructor or destructor because one of the most useful uses of
96  // this class is as part of a union, and members of a union cannot have
97  // constructors or destructors. And, anyway, the whole point of this
98  // class is to bypass these.
99 
100  inline Type* get() {
101  return reinterpret_cast<Type*>(space_);
102  }
103  inline const Type* get() const {
104  return reinterpret_cast<const Type*>(space_);
105  }
106 
107  inline Type* operator->() { return get(); }
108  inline const Type* operator->() const { return get(); }
109 
110  inline Type& operator*() { return *get(); }
111  inline const Type& operator*() const { return *get(); }
112 
113  // This is needed to get around the strict aliasing warning GCC generates.
114  inline void* space() {
115  return reinterpret_cast<void*>(space_);
116  }
117 
118  // You can pass up to four constructor arguments as arguments of Init().
119  inline void Init() {
120  new(space()) Type;
121  }
122 
123  template <typename T1>
124  inline void Init(const T1& p1) {
125  new(space()) Type(p1);
126  }
127 
128  template <typename T1, typename T2>
129  inline void Init(const T1& p1, const T2& p2) {
130  new(space()) Type(p1, p2);
131  }
132 
133  template <typename T1, typename T2, typename T3>
134  inline void Init(const T1& p1, const T2& p2, const T3& p3) {
135  new(space()) Type(p1, p2, p3);
136  }
137 
138  template <typename T1, typename T2, typename T3, typename T4>
139  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4) {
140  new(space()) Type(p1, p2, p3, p4);
141  }
142 
143  template <typename T1, typename T2, typename T3, typename T4, typename T5>
144  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
145  const T5& p5) {
146  new(space()) Type(p1, p2, p3, p4, p5);
147  }
148 
149  template <typename T1, typename T2, typename T3, typename T4, typename T5,
150  typename T6>
151  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
152  const T5& p5, const T6& p6) {
153  new(space()) Type(p1, p2, p3, p4, p5, p6);
154  }
155 
156  template <typename T1, typename T2, typename T3, typename T4, typename T5,
157  typename T6, typename T7>
158  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
159  const T5& p5, const T6& p6, const T7& p7) {
160  new(space()) Type(p1, p2, p3, p4, p5, p6, p7);
161  }
162 
163  template <typename T1, typename T2, typename T3, typename T4, typename T5,
164  typename T6, typename T7, typename T8>
165  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
166  const T5& p5, const T6& p6, const T7& p7, const T8& p8) {
167  new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8);
168  }
169 
170  template <typename T1, typename T2, typename T3, typename T4, typename T5,
171  typename T6, typename T7, typename T8, typename T9>
172  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
173  const T5& p5, const T6& p6, const T7& p7, const T8& p8,
174  const T9& p9) {
175  new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9);
176  }
177 
178  template <typename T1, typename T2, typename T3, typename T4, typename T5,
179  typename T6, typename T7, typename T8, typename T9, typename T10>
180  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
181  const T5& p5, const T6& p6, const T7& p7, const T8& p8,
182  const T9& p9, const T10& p10) {
183  new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10);
184  }
185 
186  template <typename T1, typename T2, typename T3, typename T4, typename T5,
187  typename T6, typename T7, typename T8, typename T9, typename T10,
188  typename T11>
189  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
190  const T5& p5, const T6& p6, const T7& p7, const T8& p8,
191  const T9& p9, const T10& p10, const T11& p11) {
192  new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10, p11);
193  }
194 
195  inline void Destroy() {
196  get()->~Type();
197  }
198 
199  private:
200  CERES_ALIGNED_CHAR_ARRAY(Type, 1) space_;
201 };
202 
203 #undef CERES_ALIGNED_CHAR_ARRAY
204 
205 } // namespace internal
206 } // namespace ceres
207 
208 #endif // CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
ceres::internal::ManualConstructor::operator->
Type * operator->()
Definition: manual_constructor.h:107
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Namespace containing all symbols from the Eigen library.
Definition: jet.h:637
ceres::internal::ManualConstructor::Init
void Init(const T1 &p1, const T2 &p2, const T3 &p3, const T4 &p4, const T5 &p5, const T6 &p6)
Definition: manual_constructor.h:151
p5
KeyInt p5(x5, 5)
ceres::internal::ManualConstructor::Init
void Init(const T1 &p1, const T2 &p2, const T3 &p3, const T4 &p4, const T5 &p5, const T6 &p6, const T7 &p7, const T8 &p8, const T9 &p9, const T10 &p10, const T11 &p11)
Definition: manual_constructor.h:189
ceres::internal::ManualConstructor::Init
void Init(const T1 &p1, const T2 &p2, const T3 &p3, const T4 &p4, const T5 &p5, const T6 &p6, const T7 &p7, const T8 &p8, const T9 &p9, const T10 &p10)
Definition: manual_constructor.h:180
ceres::internal::ManualConstructor::Init
void Init(const T1 &p1, const T2 &p2, const T3 &p3, const T4 &p4)
Definition: manual_constructor.h:139
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static const Pose3 T3(Rot3::Rodrigues(-90, 0, 0), Point3(1, 2, 3))
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Definition: OdometryOptimize.cpp:8
ceres::internal::ManualConstructor::Destroy
void Destroy()
Definition: manual_constructor.h:195
size
Scalar Scalar int size
Definition: benchVecAdd.cpp:17
ceres::internal::ManualConstructor::Init
void Init(const T1 &p1, const T2 &p2)
Definition: manual_constructor.h:129
ceres::internal::ManualConstructor::Init
void Init(const T1 &p1, const T2 &p2, const T3 &p3)
Definition: manual_constructor.h:134
simple::p2
static Point3 p2
Definition: testInitializePose3.cpp:51
ceres::internal::ManualConstructor
Definition: manual_constructor.h:93
ceres::internal::ManualConstructor::Init
void Init(const T1 &p1)
Definition: manual_constructor.h:124
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static const Similarity3 T4(R, P, s)
Type
Definition: typing.h:67
ceres::internal::ManualConstructor::operator->
const Type * operator->() const
Definition: manual_constructor.h:108
ceres::internal::ManualConstructor::Init
void Init(const T1 &p1, const T2 &p2, const T3 &p3, const T4 &p4, const T5 &p5, const T6 &p6, const T7 &p7, const T8 &p8, const T9 &p9)
Definition: manual_constructor.h:172
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static const Similarity3 T6(Rot3(), Point3(1, 1, 0), 2)
Eigen::Architecture::Type
Type
Definition: Constants.h:471
ceres::internal::ManualConstructor::Init
void Init(const T1 &p1, const T2 &p2, const T3 &p3, const T4 &p4, const T5 &p5, const T6 &p6, const T7 &p7, const T8 &p8)
Definition: manual_constructor.h:165
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static const Similarity3 T5(R, P, 10)
simple::p3
static Point3 p3
Definition: testInitializePose3.cpp:53
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static const Pose3 T2(Rot3::Rodrigues(0.3, 0.2, 0.1), P2)
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Definition: autodiff.h:152
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Definition: MatrixBase_all.cpp:2
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ceres::internal::ManualConstructor::Init
void Init()
Definition: manual_constructor.h:119
ceres::internal::ManualConstructor::operator*
const Type & operator*() const
Definition: manual_constructor.h:111
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Definition: manual_constructor.h:55
ceres::internal::ManualConstructor::get
Type * get()
Definition: manual_constructor.h:100
ceres::internal::ManualConstructor::CERES_ALIGNED_CHAR_ARRAY
CERES_ALIGNED_CHAR_ARRAY(Type, 1) space_
ceres::internal::ManualConstructor::operator*
Type & operator*()
Definition: manual_constructor.h:110
ceres::internal::ManualConstructor::Init
void Init(const T1 &p1, const T2 &p2, const T3 &p3, const T4 &p4, const T5 &p5)
Definition: manual_constructor.h:144
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const Type * get() const
Definition: manual_constructor.h:103
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Definition: BandTriangularSolver.h:13
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static const Similarity3 T1(R, Point3(3.5, -8.2, 4.2), 1)
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void Init(const T1 &p1, const T2 &p2, const T3 &p3, const T4 &p4, const T5 &p5, const T6 &p6, const T7 &p7)
Definition: manual_constructor.h:158
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void * space()
Definition: manual_constructor.h:114


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