loss.h

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#ifndef FUSE_CORE_LOSS_H
#define FUSE_CORE_LOSS_H
 
#include <fuse_core/fuse_macros.h>
#include <fuse_core/serialization.h>
 
#include <boost/serialization/access.hpp>
#include <boost/type_index/stl_type_index.hpp>
#include <ceres/loss_function.h>
 
#include <ostream>
#include <string>
 
 
#define FUSE_LOSS_CLONE_DEFINITION(...) \
  fuse_core::Loss::UniquePtr clone() const override \
  { \
    return __VA_ARGS__::make_unique(*this); \
  }
 
#define FUSE_LOSS_SERIALIZE_DEFINITION(...) \
  void serialize(fuse_core::BinaryOutputArchive& archive) const override \
  { \
    archive << *this; \
  }  /* NOLINT */ \
  void serialize(fuse_core::TextOutputArchive& archive) const override \
  { \
    archive << *this; \
  }  /* NOLINT */ \
  void deserialize(fuse_core::BinaryInputArchive& archive) override \
  { \
    archive >> *this; \
  }  /* NOLINT */ \
  void deserialize(fuse_core::TextInputArchive& archive) override \
  { \
    archive >> *this; \
  }
 
#define FUSE_LOSS_TYPE_DEFINITION(...) \
  struct detail \
  { \
    static std::string type() \
    { \
      return boost::typeindex::stl_type_index::type_id<__VA_ARGS__>().pretty_name(); \
    }  /* NOLINT */ \
  };  /* NOLINT */ \
  std::string type() const override \
  { \
    return detail::type(); \
  }
 
#define FUSE_LOSS_DEFINITIONS(...) \
  FUSE_SMART_PTR_DEFINITIONS(__VA_ARGS__) \
  FUSE_LOSS_TYPE_DEFINITION(__VA_ARGS__) \
  FUSE_LOSS_CLONE_DEFINITION(__VA_ARGS__) \
  FUSE_LOSS_SERIALIZE_DEFINITION(__VA_ARGS__)
 
 
namespace fuse_core
{
 
class Loss
{
public:
  FUSE_SMART_PTR_ALIASES_ONLY(Loss);
 
  static constexpr ceres::Ownership Ownership =
      ceres::Ownership::TAKE_OWNERSHIP;  
 
  Loss() = default;
 
  virtual ~Loss() = default;
 
  virtual void initialize(const std::string& name) = 0;
 
  virtual std::string type() const = 0;
 
  virtual void print(std::ostream& stream = std::cout) const = 0;
 
  virtual ceres::LossFunction* lossFunction() const = 0;
 
  virtual Loss::UniquePtr clone() const = 0;
 
  virtual void serialize(fuse_core::BinaryOutputArchive& /* archive */) const = 0;
 
  virtual void serialize(fuse_core::TextOutputArchive& /* archive */) const = 0;
 
  virtual void deserialize(fuse_core::BinaryInputArchive& /* archive */) = 0;
 
  virtual void deserialize(fuse_core::TextInputArchive& /* archive */) = 0;
 
private:
  // Allow Boost Serialization access to private methods
  friend class boost::serialization::access;
 
  template<class Archive>
  void serialize(Archive& /* archive */, const unsigned int /* version */)
  {
  }
};
 
std::ostream& operator <<(std::ostream& stream, const Loss& loss);
 
}  // namespace fuse_core
 
#endif  // FUSE_CORE_LOSS_H