| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687 | // Ceres Solver - A fast non-linear least squares minimizer// Copyright 2015 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: 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 <string>#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);// If the array contains an invalid value, return the index for it,// otherwise return size.int FindInvalidValue(const int size, const double* x);// Utility routine to print an array of doubles to a string. If the// array pointer is NULL, it is treated as an array of zeros.void AppendArrayToString(const int size, const double* x, std::string* result);// This routine takes an array of integer values, sorts and uniques// them and then maps each value in the array to its position in the// sorted+uniqued array. By doing this, if there are k unique// values in the array, each value is replaced by an integer in the// range [0, k-1], while preserving their relative order.//// For example//// [1 0 3 5 0 1 5]//// gets mapped to//// [1 0 2 3 0 1 3]void MapValuesToContiguousRange(int size, int* array);}  // namespace internal}  // namespace ceres#endif  // CERES_INTERNAL_ARRAY_UTILS_H_
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