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ceres-solver / ceres-solver / 8c50a34a1cac220ab2e7e2093b35b0db7e2a6e9b
commit8c50a34a1cac220ab2e7e2093b35b0db7e2a6e9b[log] [tgz]
authorSergiu Deitsch <sergiu.deitsch@gmail.com>Sun Jun 08 16:33:24 2025 +0200
committerSergiu Deitsch <sergiu.deitsch@gmail.com>Thu Jun 19 18:15:51 2025 +0200
tree04e9cee60f19cd65e3cf8e33ab10de16ed36b243
parent370631f01f71db36b580e5a65790b2a8d9559821 [diff]
Reuse rotation functionality in (Eigen)QuaternionManifold

Allow to specify the memory layout of quaternion coefficients using a
template parameter which defaults to Ceres coefficients order.

The changes are, for the most part, backwards compatible unless the
floating-point type is explicitly specified, e.g., as
&ceres::QuaternionToAngleAxis<double> to obtain a pointer to the
corresponding function. In such rare use cases, the coefficients order
must be given explicitly first as
ceres::QuaternionToAngleAxis<ceres::CeresQuaternionOrder>. In normal
situations, however, this should not be needed.

Change-Id: I05dd80f0593672dec656cc785cf06fe5268aee74
4 files changed
tree: 04e9cee60f19cd65e3cf8e33ab10de16ed36b243
  1. .github/
  2. bazel/
  3. cmake/
  4. config/
  5. data/
  6. docs/
  7. examples/
  8. include/
  9. internal/
  10. scripts/
  11. third_party/
  12. .clang-format
  13. .gitignore
  14. .gitmodules
  15. .readthedocs.yaml
  16. BUILD
  17. CITATION.cff
  18. CMakeLists.txt
  19. CONTRIBUTING.md
  20. LICENSE
  21. MODULE.bazel
  22. package.xml
  23. README.md
  24. WORKSPACE
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.