1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 3 // http://code.google.com/p/ceres-solver/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: kenton@google.com (Kenton Varda) 30 // 31 // ManualConstructor statically-allocates space in which to store some 32 // object, but does not initialize it. You can then call the constructor 33 // and destructor for the object yourself as you see fit. This is useful 34 // for memory management optimizations, where you want to initialize and 35 // destroy an object multiple times but only allocate it once. 36 // 37 // (When I say ManualConstructor statically allocates space, I mean that 38 // the ManualConstructor object itself is forced to be the right size.) 39 40 #ifndef CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_ 41 #define CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_ 42 43 #include <new> 44 45 namespace ceres { 46 namespace internal { 47 48 // ------- Define CERES_ALIGNED_CHAR_ARRAY -------------------------------- 49 50 #ifndef CERES_ALIGNED_CHAR_ARRAY 51 52 // Because MSVC and older GCCs require that the argument to their alignment 53 // construct to be a literal constant integer, we use a template instantiated 54 // at all the possible powers of two. 55 template<int alignment, int size> struct AlignType { }; 56 template<int size> struct AlignType<0, size> { typedef char result[size]; }; 57 58 #if !defined(CERES_ALIGN_ATTRIBUTE) 59 #define CERES_ALIGNED_CHAR_ARRAY you_must_define_CERES_ALIGNED_CHAR_ARRAY_for_your_compiler 60 #else // !defined(CERES_ALIGN_ATTRIBUTE) 61 62 #define CERES_ALIGN_TYPE_TEMPLATE(X) \ 63 template<int size> struct AlignType<X, size> { \ 64 typedef CERES_ALIGN_ATTRIBUTE(X) char result[size]; \ 65 } 66 67 CERES_ALIGN_TYPE_TEMPLATE(1); 68 CERES_ALIGN_TYPE_TEMPLATE(2); 69 CERES_ALIGN_TYPE_TEMPLATE(4); 70 CERES_ALIGN_TYPE_TEMPLATE(8); 71 CERES_ALIGN_TYPE_TEMPLATE(16); 72 CERES_ALIGN_TYPE_TEMPLATE(32); 73 CERES_ALIGN_TYPE_TEMPLATE(64); 74 CERES_ALIGN_TYPE_TEMPLATE(128); 75 CERES_ALIGN_TYPE_TEMPLATE(256); 76 CERES_ALIGN_TYPE_TEMPLATE(512); 77 CERES_ALIGN_TYPE_TEMPLATE(1024); 78 CERES_ALIGN_TYPE_TEMPLATE(2048); 79 CERES_ALIGN_TYPE_TEMPLATE(4096); 80 CERES_ALIGN_TYPE_TEMPLATE(8192); 81 // Any larger and MSVC++ will complain. 82 83 #undef CERES_ALIGN_TYPE_TEMPLATE 84 85 #define CERES_ALIGNED_CHAR_ARRAY(T, Size) \ 86 typename AlignType<CERES_ALIGN_OF(T), sizeof(T) * Size>::result 87 88 #endif // !defined(CERES_ALIGN_ATTRIBUTE) 89 90 #endif // CERES_ALIGNED_CHAR_ARRAY 91 92 template <typename Type> 93 class ManualConstructor { 94 public: 95 // No constructor or destructor because one of the most useful uses of 96 // this class is as part of a union, and members of a union cannot have 97 // constructors or destructors. And, anyway, the whole point of this 98 // class is to bypass these. 99 100 inline Type* get() { 101 return reinterpret_cast<Type*>(space_); 102 } 103 inline const Type* get() const { 104 return reinterpret_cast<const Type*>(space_); 105 } 106 107 inline Type* operator->() { return get(); } 108 inline const Type* operator->() const { return get(); } 109 110 inline Type& operator*() { return *get(); } 111 inline const Type& operator*() const { return *get(); } 112 113 // This is needed to get around the strict aliasing warning GCC generates. 114 inline void* space() { 115 return reinterpret_cast<void*>(space_); 116 } 117 118 // You can pass up to four constructor arguments as arguments of Init(). 119 inline void Init() { 120 new(space()) Type; 121 } 122 123 template <typename T1> 124 inline void Init(const T1& p1) { 125 new(space()) Type(p1); 126 } 127 128 template <typename T1, typename T2> 129 inline void Init(const T1& p1, const T2& p2) { 130 new(space()) Type(p1, p2); 131 } 132 133 template <typename T1, typename T2, typename T3> 134 inline void Init(const T1& p1, const T2& p2, const T3& p3) { 135 new(space()) Type(p1, p2, p3); 136 } 137 138 template <typename T1, typename T2, typename T3, typename T4> 139 inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4) { 140 new(space()) Type(p1, p2, p3, p4); 141 } 142 143 template <typename T1, typename T2, typename T3, typename T4, typename T5> 144 inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4, 145 const T5& p5) { 146 new(space()) Type(p1, p2, p3, p4, p5); 147 } 148 149 template <typename T1, typename T2, typename T3, typename T4, typename T5, 150 typename T6> 151 inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4, 152 const T5& p5, const T6& p6) { 153 new(space()) Type(p1, p2, p3, p4, p5, p6); 154 } 155 156 template <typename T1, typename T2, typename T3, typename T4, typename T5, 157 typename T6, typename T7> 158 inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4, 159 const T5& p5, const T6& p6, const T7& p7) { 160 new(space()) Type(p1, p2, p3, p4, p5, p6, p7); 161 } 162 163 template <typename T1, typename T2, typename T3, typename T4, typename T5, 164 typename T6, typename T7, typename T8> 165 inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4, 166 const T5& p5, const T6& p6, const T7& p7, const T8& p8) { 167 new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8); 168 } 169 170 template <typename T1, typename T2, typename T3, typename T4, typename T5, 171 typename T6, typename T7, typename T8, typename T9> 172 inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4, 173 const T5& p5, const T6& p6, const T7& p7, const T8& p8, 174 const T9& p9) { 175 new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9); 176 } 177 178 template <typename T1, typename T2, typename T3, typename T4, typename T5, 179 typename T6, typename T7, typename T8, typename T9, typename T10> 180 inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4, 181 const T5& p5, const T6& p6, const T7& p7, const T8& p8, 182 const T9& p9, const T10& p10) { 183 new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10); 184 } 185 186 template <typename T1, typename T2, typename T3, typename T4, typename T5, 187 typename T6, typename T7, typename T8, typename T9, typename T10, 188 typename T11> 189 inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4, 190 const T5& p5, const T6& p6, const T7& p7, const T8& p8, 191 const T9& p9, const T10& p10, const T11& p11) { 192 new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10, p11); 193 } 194 195 inline void Destroy() { 196 get()->~Type(); 197 } 198 199 private: 200 CERES_ALIGNED_CHAR_ARRAY(Type, 1) space_; 201 }; 202 203 #undef CERES_ALIGNED_CHAR_ARRAY 204 205 } // namespace internal 206 } // namespace ceres 207 208 #endif // CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_ 209