Autodiff Codegen Part 1: Expressions

This patch adds the 'Expression' class, which is a fundamental
building block of automatic code generation. The expressions can
be used as scalar types for cost functors as well as Jets.
Dynamic branching is not yet supported.

Change-Id: I8c61bee5c307e0eec20fd39382683ea90f720dff
10 files changed
tree: 7ff0c97d84a728eb4a04f23d87275b5557679cd3
  1. .clang-format
  2. .gitignore
  3. .travis.yml
  4. BUILD
  5. CMakeLists.txt
  10. bazel/
  11. cmake/
  12. config/
  13. data/
  14. docs/
  15. examples/
  16. include/
  17. internal/
  18. package.xml
  19. scripts/
  20. travis/

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 for more information.