tree 86871912b851158d4340f504a53bb6f2e80eb77c
parent a36693f83da7a3fd19dce473d060231d4cc97499
author Sameer Agarwal <sameeragarwal@google.com> 1474590014 -0700
committer Sameer Agarwal <sameeragarwal@google.com> 1474601633 -0700

Allow SubsetParameterization to hold all parameters constant

1. SubsetParameterization can now be constructed such that all
parameters are constant. This is required for it be used as part
of a ProductParameterization to hold a part of parameter block
constant. For example, a parameter block consisting of a rotation
as a quaternion and a translation vector can now have a local
parameterization where the translation part is constant and the
quaternion part has a QuaternionParameterization associated with it.

2. The check for the tangent space of a parameterization being
positive dimensional. We were not doing this check up till now
and the user could accidentally create parameterizations like this
and create a problem for themselves. This will ensure that even
though one can construct a SubsetParameterization where all
parameters are constant, you cannot actually use it as a local
parameterization for an entire parameter block. Which is how
it was before, but the check was inside the SubsetParameterization
constructor.

3. Added more tests and refactored existing tests to be more
granular.

Change-Id: Ic0184a1f30e3bd8a416b02341781a9d98e855ff7