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ceres-solver / ceres-solver / 23b204d7e674976a9af39dcd8e8708f06fe9537a
commit23b204d7e674976a9af39dcd8e8708f06fe9537a[log] [tgz]
authorSameer Agarwal <sameeragarwal@google.com>Tue Dec 28 07:05:03 2021 -0800
committerSameer Agarwal <sameeragarwal@google.com>Wed Dec 29 17:27:28 2021 -0800
tree6d9d5b41f05e4d1c590e869acc73757389e9b513
parentc2fab6502e5a341ff644c2bb2c5171ebd882b2d6 [diff]
LocalParameterization -> Manifold #1

This is the first in a series of changes that will eventually
replace the LocalParameterization interface with the richer
Manifold interface.

1. Add the Manifold interface.
2. Add implementations and test for:
   a. EuclideanManifold (formerly the IdentityParameterization)
   b. SubsetManifold (formerly the SubsetParameterization)
   c. ProductManifold (formerly the ProductParameterization)

The testing has been completely re-done, where instead of adhoc
testing, we now define a number of matchers which explicitly
enforce the invariants demanded by the Manifold interface.

Change-Id: I3f296d0964388d52b027c99dc86b7730d24d55fa
4 files changed
tree: 6d9d5b41f05e4d1c590e869acc73757389e9b513
  1. bazel/
  2. cmake/
  3. config/
  4. data/
  5. docs/
  6. examples/
  7. include/
  8. internal/
  9. scripts/
  10. travis/
  11. .clang-format
  12. .gitignore
  13. .travis.yml
  14. BUILD
  15. CMakeLists.txt
  16. CONTRIBUTING.md
  17. LICENSE
  18. package.xml
  19. README.md
  20. WORKSPACE
README.md

Build Status

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.