tree 04e9cee60f19cd65e3cf8e33ab10de16ed36b243
parent 370631f01f71db36b580e5a65790b2a8d9559821
author Sergiu Deitsch <sergiu.deitsch@gmail.com> 1749393204 +0200
committer Sergiu Deitsch <sergiu.deitsch@gmail.com> 1750349751 +0200
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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