| // Ceres Solver - A fast non-linear least squares minimizer | |
| // Copyright 2020 Google Inc. All rights reserved. | |
| // http://ceres-solver.org/ | |
| // | |
| // Redistribution and use in source and binary forms, with or without | |
| // modification, are permitted provided that the following conditions are met: | |
| // | |
| // * Redistributions of source code must retain the above copyright notice, | |
| // this list of conditions and the following disclaimer. | |
| // * Redistributions in binary form must reproduce the above copyright notice, | |
| // this list of conditions and the following disclaimer in the documentation | |
| // and/or other materials provided with the distribution. | |
| // * Neither the name of Google Inc. nor the names of its contributors may be | |
| // used to endorse or promote products derived from this software without | |
| // specific prior written permission. | |
| // | |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | |
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | |
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | |
| // POSSIBILITY OF SUCH DAMAGE. | |
| // | |
| // Author: darius.rueckert@fau.de (Darius Rueckert) | |
| // | |
| namespace ceres { | |
| namespace internal { | |
| // StaticFixedArray selects the best array implementation based on template | |
| // arguments. If the size is not known at compile-time, pass | |
| // ceres::DYNAMIC as a size-template argument. | |
| // | |
| // Three different containers are selected in different scenarios: | |
| // | |
| // num_elements == DYNAMIC: | |
| // -> ceres::internal::FixedArray<T, max_stack_size>(size) | |
| // num_elements != DYNAMIC && num_elements <= max_stack_size | |
| // -> std::array<T,num_elements> | |
| // num_elements != DYNAMIC && num_elements > max_stack_size | |
| // -> std::vector<T>(num_elements) | |
| // | |
| template <typename T, | |
| int num_elements, | |
| int max_num_elements_on_stack, | |
| bool dynamic = (num_elements == DYNAMIC), | |
| bool fits_on_stack = (num_elements <= max_num_elements_on_stack)> | |
| struct ArraySelector {}; | |
| template <typename T, | |
| int num_elements, | |
| int max_num_elements_on_stack, | |
| bool fits_on_stack> | |
| struct ArraySelector<T, | |
| num_elements, | |
| max_num_elements_on_stack, | |
| true, | |
| fits_on_stack> | |
| : ceres::internal::FixedArray<T, max_num_elements_on_stack> { | |
| explicit ArraySelector(int s) | |
| : ceres::internal::FixedArray<T, max_num_elements_on_stack>(s) {} | |
| }; | |
| template <typename T, int num_elements, int max_num_elements_on_stack> | |
| struct ArraySelector<T, num_elements, max_num_elements_on_stack, false, true> | |
| : std::array<T, num_elements> { | |
| explicit ArraySelector(int s) { CHECK_EQ(s, num_elements); } | |
| }; | |
| template <typename T, int num_elements, int max_num_elements_on_stack> | |
| struct ArraySelector<T, num_elements, max_num_elements_on_stack, false, false> | |
| : std::vector<T> { | |
| explicit ArraySelector(int s) : std::vector<T>(s) { | |
| CHECK_EQ(s, num_elements); | |
| } | |
| }; | |
| } // namespace internal | |
| } // namespace ceres | |