Add SphereManifold.

This MR adds SphereManifold ported from
HomogeneousVectorParameterization. Additionally the minus operator
and jacobian evaluation was implemented.

The unit tests were almost completly reimplemented and uses the
test facilities provided for manifolds.

Change-Id: Iccf72a2333bc921ff24c4d831db35020c653ee86
4 files changed
tree: 546a0ab794f96fef1f54407defd939bf7914d842
  1. bazel/
  2. cmake/
  3. config/
  4. data/
  5. docs/
  6. examples/
  7. include/
  8. internal/
  9. scripts/
  10. travis/
  11. .clang-format
  12. .gitignore
  13. .travis.yml
  14. BUILD
  15. CMakeLists.txt
  16. CONTRIBUTING.md
  17. LICENSE
  18. package.xml
  19. README.md
  20. WORKSPACE
README.md

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 ceres-solver.org for more information.