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Commit 4f2b826a authored by cont-integration's avatar cont-integration
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[skip ci] applied clang format

parent bd2b12c3
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include/core/factor/factor_autodiff.h
+ 25
− 14
View file @ 4f2b826a
...@@ -1657,8 +1657,15 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, 0, 0, 0, 0, 0, 0 ...@@ -1657,8 +1657,15 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, 0, 0, 0, 0, 0, 0
// only residuals // only residuals
if (jacobians == nullptr) if (jacobians == nullptr)
{ {
return (*static_cast<FacT const*>(this))( return (*static_cast<FacT const*>(this))(params[0],
params[0], params[1], params[2], params[3], params[4], params[5], params[6], params[7], residuals); params[1],
params[2],
params[3],
params[4],
params[5],
params[6],
params[7],
residuals);
} }
// also compute jacobians // also compute jacobians
else else
...@@ -1836,8 +1843,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, B6, 0, 0, 0, 0, 0, 0, 0, ...@@ -1836,8 +1843,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, B6, 0, 0, 0, 0, 0, 0, 0,
// only residuals // only residuals
if (jacobians == nullptr) if (jacobians == nullptr)
{ {
return (*static_cast<FacT const*>(this))( return (*static_cast<FacT const*>(
params[0], params[1], params[2], params[3], params[4], params[5], params[6], residuals); this))(params[0], params[1], params[2], params[3], params[4], params[5], params[6], residuals);
} }
// also compute jacobians // also compute jacobians
else else
...@@ -2009,8 +2016,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, 0, 0, 0, 0, 0, 0, 0, 0, ...@@ -2009,8 +2016,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, 0, 0, 0, 0, 0, 0, 0, 0,
// only residuals // only residuals
if (jacobians == nullptr) if (jacobians == nullptr)
{ {
return (*static_cast<FacT const*>(this))( return (*static_cast<FacT const*>(
params[0], params[1], params[2], params[3], params[4], params[5], residuals); this))(params[0], params[1], params[2], params[3], params[4], params[5], residuals);
} }
// also compute jacobians // also compute jacobians
else else
...@@ -2232,8 +2239,12 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ...@@ -2232,8 +2239,12 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
updateJetsRealPart(_states_ptr); updateJetsRealPart(_states_ptr);
// call functor // call functor
bool res = (*static_cast<FacT const*>(this))( bool res = (*static_cast<FacT const*>(this))(jets_0_.data(),
jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), jets_4_.data(), residuals_jets_.data()); jets_1_.data(),
jets_2_.data(),
jets_3_.data(),
jets_4_.data(),
residuals_jets_.data());
if (not res) return false; if (not res) return false;
// fill the residual vector // fill the residual vector
...@@ -2338,8 +2349,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0> ...@@ -2338,8 +2349,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0>
updateJetsRealPart(param_vec); updateJetsRealPart(param_vec);
// call functor // call functor
bool res = (*static_cast<FacT const*>(this))( bool res = (*static_cast<FacT const*>(
jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), residuals_jets_.data()); this))(jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), residuals_jets_.data());
if (not res) return false; if (not res) return false;
// fill the residual array // fill the residual array
...@@ -2378,8 +2389,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0> ...@@ -2378,8 +2389,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0>
updateJetsRealPart(_states_ptr); updateJetsRealPart(_states_ptr);
// call functor // call functor
bool res = (*static_cast<FacT const*>(this))( bool res = (*static_cast<FacT const*>(
jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), residuals_jets_.data()); this))(jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), residuals_jets_.data());
if (not res) return false; if (not res) return false;
// fill the residual vector // fill the residual vector
...@@ -2482,8 +2493,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0> ...@@ -2482,8 +2493,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0>
updateJetsRealPart(param_vec); updateJetsRealPart(param_vec);
// call functor // call functor
bool res = (*static_cast<FacT const*>(this))( bool res = (*static_cast<FacT const*>(
jets_0_.data(), jets_1_.data(), jets_2_.data(), residuals_jets_.data()); this))(jets_0_.data(), jets_1_.data(), jets_2_.data(), residuals_jets_.data());
if (not res) return false; if (not res) return false;
// fill the residual array // fill the residual array
......
src/factor/factor_analytic.cpp
+ 1
− 1
View file @ 4f2b826a
...@@ -92,7 +92,7 @@ bool FactorAnalytic::evaluate(const std::vector<const double*>& _states_ptr, ...@@ -92,7 +92,7 @@ bool FactorAnalytic::evaluate(const std::vector<const double*>& _states_ptr,
// compute jacobians // compute jacobians
jacobians_.resize(state_block_sizes_.size()); jacobians_.resize(state_block_sizes_.size());
evaluateJacobians(state_blocks_map_, jacobians_, std::vector<bool>(state_block_sizes_.size(), true)); evaluateJacobians(state_blocks_map_, jacobians_, std::vector<bool>(state_block_sizes_.size(), true));
return true; return true;
}; };
......
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