Fix a bug in CoordinateDescentMinimizer

CoordinateDescentMinimizer optimizes one parameter block at a time.
To do this, it manipulates the parameter block object. It was doing
so inconsistently, where the tangent space offset was being set to
zero but the ambient state offset was not being set to zero. This
did not cause problems because these offsets were not really being
used inside the CoordinateDescentMinimizer. However the recent
change which parallelizes Program::Plus uncovered this bug.

The reason this bug was not caught was because, CoordinateDescentMinimizer
does not have any tests. I will fix this shortly, but in the interim
to unbreak inner iterations at head, this small change should go in.

Change-Id: I55d2698e8509f9cb5751e7a5180427129d86e720
1 file changed
tree: 75b059c0fe14d4c70229789fdb5a9f91f49aa337
  1. .github/
  2. bazel/
  3. cmake/
  4. config/
  5. data/
  6. docs/
  7. examples/
  8. include/
  9. internal/
  10. scripts/
  11. .clang-format
  12. .gitignore
  13. BUILD
  14. CITATION.cff
  15. CMakeLists.txt
  18. package.xml

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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 for more information.