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# ConditionedCostFunction

<pre class="language-cpp"><code class="lang-cpp"><strong>class ConditionedCostFunction
</strong></code></pre>

通过该类，您可以对成本函数的残差值进行不同的调节。例如，现有的代价函数会产生 $$N$$ 个值，但您希望总代价不只是这些值的平方和，也许您想对某些值应用不同的缩放比例，以改变它们对代价的贡献。

```cpp
//  my_cost_function produces N residuals
CostFunction* my_cost_function = ...
CHECK_EQ(N, my_cost_function->num_residuals());
std::vector<CostFunction*> conditioners;

//  Make N 1x1 cost functions (1 parameter, 1 residual)
CostFunction* f_1 = ...
conditioners.push_back(f_1);

CostFunction* f_N = ...
conditioners.push_back(f_N);
ConditionedCostFunction* ccf =
  new ConditionedCostFunction(my_cost_function, conditioners);
```

现在，ccf's 的 residual\[i]（i=0...N-1）将通过第 i 个调节器传递。 Jacobian 将受到相应的影响。

```cpp
ccf_residual[i] = f_i(my_cost_function_residual[i])
```