Optimize the computation of the LM diagonal in TinySolver

This eliminates an entire vector and computation of a square root
followed by a squaring.

Thanks to @rlabbe for pointing this out.

Change-Id: I0de117b31b9332c61e687f18466d7cb2e2ac611e
1 file changed
tree: f123d6bb5bc0182daf5d7358fbf41d86fd1a6064
  1. .github/
  2. bazel/
  3. cmake/
  4. config/
  5. data/
  6. docs/
  7. examples/
  8. include/
  9. internal/
  10. scripts/
  11. .clang-format
  12. .gitignore
  13. BUILD
  14. CITATION.cff
  15. CMakeLists.txt
  18. package.xml
  19. README.md

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Ceres Solver

Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010. Ceres Solver can solve two kinds of problems.

  1. Non-linear Least Squares problems with bounds constraints.
  2. General unconstrained optimization problems.

Please see ceres-solver.org for more information.