tree 00551b74ed96c6700f40862bbced5208bdcec140
parent 6c45d6b891aac01489b478a021f99081c61792cb
author Sameer Agarwal <sameeragarwal@google.com> 1409943389 -0700
committer Sameer Agarwal <sameeragarwal@google.com> 1410801669 -0700

Add GradientProblem and GradientProblemSolver.

The line search minimizer in Ceres does not require that the
problems that is solving is a sum of squares. Over the past
year there have been multiple requests to expose this algorithm
on its own so that it can be used to solve unconstrained
non-linear minimization problems on its own.

With this change, a new optimization problem called
GradientProblem is introduced which is basically a thin
wrapper around a user defined functor that evaluates cost
and gradients (FirstOrderFunction) and an optional LocalParameterization.

Corresponding to it, a GradientProblemSolver and its associated
options and summary structs are introduced too.

An example that uses the new API to find the minimum of Rosenbrock's
function is also added.

Change-Id: I42bf687540da25de991e9bdb00e321239244e8b4