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Diffstat (limited to 'internal/ceres/array_utils.h')
| -rw-r--r-- | internal/ceres/array_utils.h | 65 |
1 files changed, 65 insertions, 0 deletions
diff --git a/internal/ceres/array_utils.h b/internal/ceres/array_utils.h new file mode 100644 index 0000000..99cc8d8 --- /dev/null +++ b/internal/ceres/array_utils.h @@ -0,0 +1,65 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2012 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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: sameeragarwal@google.com (Sameer Agarwal) +// +// Utility routines for validating arrays. +// +// These are useful for detecting two common class of errors. +// +// 1. Uninitialized memory - where the user for some reason did not +// compute part of an array, but the code expects it. +// +// 2. Numerical failure while computing the cost/residual/jacobian, +// e.g. NaN, infinities etc. This is particularly useful since the +// automatic differentiation code does computations that are not +// evident to the user and can silently generate hard to debug errors. + +#ifndef CERES_INTERNAL_ARRAY_UTILS_H_ +#define CERES_INTERNAL_ARRAY_UTILS_H_ + +#include "ceres/internal/port.h" + +namespace ceres { +namespace internal { + +// Fill the array x with an impossible value that the user code is +// never expected to compute. +void InvalidateArray(int size, double* x); + +// Check if all the entries of the array x are valid, i.e. all the +// values in the array should be finite and none of them should be +// equal to the "impossible" value used by InvalidateArray. +bool IsArrayValid(int size, const double* x); + +extern const double kImpossibleValue; + +} // namespace internal +} // namespace ceres + +#endif // CERES_INTERNAL_ARRAY_UTILS_H_ |