Merge branch 'master' of https://ceres-solver.googlesource.com/ceres-…

…solver

# By Sameer Agarwal
# Via Sameer Agarwal
* 'master' of https://ceres-solver.googlesource.com/ceres-solver:
  Lint cleanup from William Rucklidge.
  Lint cleanup from Jim Roseborough.

CMakeLists.txt

@@ -112,7 +112,7 @@ IF (MSVC)
   OPTION(MSVC_USE_STATIC_CRT
     "MS Visual Studio: Use static C-Run Time Library in place of shared." OFF)
 
-  IF ( BUILD_TESTING AND BUILD_SHARED_LIBS)
+  IF (BUILD_TESTING AND BUILD_SHARED_LIBS)
     MESSAGE(
       "-- Disabling tests. The flags BUILD_TESTING and BUILD_SHARED_LIBS"
       " are incompatible with MSVC."

docs/source/version_history.rst

@@ -27,12 +27,12 @@ New Features
    (Alex Stewart)
 #. LBFGS is faster due to fewer memory copies.
 #. Parameter blocks are not restricted to be less than 32k in size,
-   they can be upto 2G in size.
+   they can be up to 2G in size.
 #. Faster ``SPARSE_NORMAL_CHOLESKY`` solver when using ``CX_SPARSE``
    as the sparse linear algebra library.
 #. ``Problem::IsParameterBlockPresent`` can be used to check if a
    parameter block is already present in the problem.
-#. ``Problem::GetParameterzation`` can be used to access the
+#. ``Problem::GetParameterization`` can be used to access the
    parameterization associated with a parameter block.
 #. Added the (2,4,9) template specialization for PartitionedMatrixView
    and SchurEliminator.
@@ -98,7 +98,7 @@ Bug Fixes
    column blocks. (Richard Bowen)
 #. Better error checking when ``Problem::RemoveResidualBlock`` is
    called. (Alex Stewart)
-#. Fixed a memory leack in ``SchurComplementSolver``.
+#. Fixed a memory leak in ``SchurComplementSolver``.
 #. Added ``epsilon()`` method to ``NumTraits<ceres::Jet<T, N> >``. (Filippo
    Basso)
 #. Fixed a bug in `CompressedRowSparseMatrix::AppendRows`` and

include/ceres/types.h

@@ -378,9 +378,9 @@ enum DumpFormatType {
   TEXTFILE
 };
 
-// For SizedCostFunction and AutoDiffCostFunction, DYNAMIC can be specified for
-// the number of residuals. If specified, then the number of residuas for that
-// cost function can vary at runtime.
+// For SizedCostFunction and AutoDiffCostFunction, DYNAMIC can be
+// specified for the number of residuals. If specified, then the
+// number of residuas for that cost function can vary at runtime.
 enum DimensionType {
   DYNAMIC = -1
 };
@@ -402,13 +402,17 @@ enum CovarianceAlgorithmType {
   SPARSE_QR
 };
 
-CERES_EXPORT const char* LinearSolverTypeToString(LinearSolverType type);
-CERES_EXPORT bool StringToLinearSolverType(string value, LinearSolverType* type);
+CERES_EXPORT const char* LinearSolverTypeToString(
+    LinearSolverType type);
+CERES_EXPORT bool StringToLinearSolverType(string value,
+                                           LinearSolverType* type);
 
 CERES_EXPORT const char* PreconditionerTypeToString(PreconditionerType type);
-CERES_EXPORT bool StringToPreconditionerType(string value, PreconditionerType* type);
+CERES_EXPORT bool StringToPreconditionerType(string value,
+                                             PreconditionerType* type);
 
-CERES_EXPORT const char* VisibilityClusteringTypeToString(VisibilityClusteringType type);
+CERES_EXPORT const char* VisibilityClusteringTypeToString(
+    VisibilityClusteringType type);
 CERES_EXPORT bool StringToVisibilityClusteringType(string value,
                                       VisibilityClusteringType* type);
 
@@ -424,7 +428,8 @@ CERES_EXPORT bool StringToDenseLinearAlgebraLibraryType(
     string value,
     DenseLinearAlgebraLibraryType* type);
 
-CERES_EXPORT const char* TrustRegionStrategyTypeToString(TrustRegionStrategyType type);
+CERES_EXPORT const char* TrustRegionStrategyTypeToString(
+    TrustRegionStrategyType type);
 CERES_EXPORT bool StringToTrustRegionStrategyType(string value,
                                      TrustRegionStrategyType* type);
 
@@ -434,7 +439,8 @@ CERES_EXPORT bool StringToDoglegType(string value, DoglegType* type);
 CERES_EXPORT const char* MinimizerTypeToString(MinimizerType type);
 CERES_EXPORT bool StringToMinimizerType(string value, MinimizerType* type);
 
-CERES_EXPORT const char* LineSearchDirectionTypeToString(LineSearchDirectionType type);
+CERES_EXPORT const char* LineSearchDirectionTypeToString(
+    LineSearchDirectionType type);
 CERES_EXPORT bool StringToLineSearchDirectionType(string value,
                                      LineSearchDirectionType* type);
 

internal/ceres/compressed_row_jacobian_writer.h

@@ -50,41 +50,44 @@ class CompressedRowJacobianWriter {
     : program_(program) {
   }
 
-  // `PopulateJacobianRowAndColumnBlockVectors` sets `col_blocks` and
-  // `row_blocks` for a `CompressedRowSparseMatrix`, based on the parameter
-  // block sizes and residual sizes respectively from the program. This is
-  // useful when Solver::Options::use_block_amd = true;
+  // PopulateJacobianRowAndColumnBlockVectors sets col_blocks and
+  // row_blocks for a CompressedRowSparseMatrix, based on the
+  // parameter block sizes and residual sizes respectively from the
+  // program. This is useful when Solver::Options::use_block_amd =
+  // true;
   //
   // This function is static so that it is available to other jacobian
-  // writers which use `CompressedRowSparseMatrix` (or derived types).
+  // writers which use CompressedRowSparseMatrix (or derived types).
   // (Jacobian writers do not fall under any type hierarchy; they only
   // have to provide an interface as specified in program_evaluator.h).
   static void PopulateJacobianRowAndColumnBlockVectors(
       const Program* program,
       CompressedRowSparseMatrix* jacobian);
 
-  // It is necessary to determine the order of the jacobian blocks before
-  // copying them into a `CompressedRowSparseMatrix` (or derived type).
-  // Just because a cost function uses parameter blocks 1 after 2 in its
-  // arguments does not mean that the block 1 occurs before block 2 in the
-  // column layout of the jacobian. Thus, `GetOrderedParameterBlocks`
-  // determines the order by sorting the jacobian blocks by their position in
-  // the state vector.
+  // It is necessary to determine the order of the jacobian blocks
+  // before copying them into a CompressedRowSparseMatrix (or derived
+  // type).  Just because a cost function uses parameter blocks 1
+  // after 2 in its arguments does not mean that the block 1 occurs
+  // before block 2 in the column layout of the jacobian. Thus,
+  // GetOrderedParameterBlocks determines the order by sorting the
+  // jacobian blocks by their position in the state vector.
   //
   // This function is static so that it is available to other jacobian
-  // writers which use `CompressedRowSparseMatrix` (or derived types).
+  // writers which use CompressedRowSparseMatrix (or derived types).
   // (Jacobian writers do not fall under any type hierarchy; they only
-  // have to provide an interface as specified in program_evaluator.h).
+  // have to provide an interface as specified in
+  // program_evaluator.h).
   static void GetOrderedParameterBlocks(
       const Program* program,
       int residual_id,
       vector<pair<int, int> >* evaluated_jacobian_blocks);
 
   // JacobianWriter interface.
 
-  // Since the compressed row matrix has different layout than that assumed by
-  // the cost functions, use scratch space to store the jacobians temporarily
-  // then copy them over to the larger jacobian in the Write() function.
+  // Since the compressed row matrix has different layout than that
+  // assumed by the cost functions, use scratch space to store the
+  // jacobians temporarily then copy them over to the larger jacobian
+  // in the Write() function.
   ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
     return ScratchEvaluatePreparer::Create(*program_, num_threads);
   }