Documentation updates.
1. Fix a typo in the Trust Region algorithm.
2. Add ARL in the list of users.
3. Update the version history.
Change-Id: Ic286e8ef1a71af07f3890b7592dd3aed9c5f87ce
diff --git a/docs/source/nnls_solving.rst b/docs/source/nnls_solving.rst
index d3a6479..c76d786 100644
--- a/docs/source/nnls_solving.rst
+++ b/docs/source/nnls_solving.rst
@@ -97,8 +97,8 @@
\|F(x)\|^2}{\displaystyle \|J(x)\Delta x + F(x)\|^2 -
\|F(x)\|^2}`
4. if :math:`\rho > \epsilon` then :math:`x = x + \Delta x`.
- 5. if :math:`\rho > \eta_1` then :math:`\rho = 2 \rho`
- 6. else if :math:`\rho < \eta_2` then :math:`\rho = 0.5 * \rho`
+ 5. if :math:`\rho > \eta_1` then :math:`\mu = 2 \mu`
+ 6. else if :math:`\rho < \eta_2` then :math:`\mu = 0.5 * \mu`
7. Go to 2.
Here, :math:`\mu` is the trust region radius, :math:`D(x)` is some
diff --git a/docs/source/users.rst b/docs/source/users.rst
index f198008..33d7d75 100644
--- a/docs/source/users.rst
+++ b/docs/source/users.rst
@@ -48,6 +48,11 @@
Structure from Motion library that uses Ceres for `bundle adjustment`_
and camera pose estimation.
+* The `Applied Research Laboratory <https://www.arl.psu.edu/>`_ at
+ Pennsylvania State University uses in their synthetic aperture Sonar
+ beamforming engine, called ASASIN , for estimating platform
+ kinematics.
+
.. _bundle adjustment: http://en.wikipedia.org/wiki/Structure_from_motion
.. _Street View: http://youtu.be/z00ORu4bU-A
.. _PhotoTours: http://google-latlong.blogspot.com/2012/04/visit-global-landmarks-with-photo-tours.html
diff --git a/docs/source/version_history.rst b/docs/source/version_history.rst
index 8ee77c9..c32b4f1 100644
--- a/docs/source/version_history.rst
+++ b/docs/source/version_history.rst
@@ -27,6 +27,12 @@
Bug Fixes & Minor Changes
-------------------------
+#. Use old minimum iOS version flags on Xcode < 7.0.
+#. Add gtest-specific flags when building/using as a shared library.
+#. Clean up iOS.cmake to use xcrun/xcodebuild & libtool.
+#. Import the latest version of ``googletest``.
+#. Refactored ``system_test`` into ``bundle_adjustment_test`` and
+ ``system_test``, where each test case is its own test.
#. Fix invalid memory access bug in
``CompressedRowSparseMatrix::AppendRows`` when it was called with a
matrix of size zero.
