Program Listing for File loss.hpp

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#ifndef FUSE_CORE__LOSS_HPP_
#define FUSE_CORE__LOSS_HPP_

#include <ceres/loss_function.h>

#include <iostream>
#include <string>

#include <boost/serialization/access.hpp>
#include <boost/type_index/stl_type_index.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/node_interfaces/node_interfaces.hpp>
#include <fuse_core/serialization.hpp>

#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(
    fuse_core::node_interfaces::NodeInterfaces<
      fuse_core::node_interfaces::Base,
      fuse_core::node_interfaces::Logging,
      fuse_core::node_interfaces::Parameters
    > interfaces,
    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_HPP_