Variety of changes to documentation and example code.
1. Update version history.
2. Minor changes to the tutorial to reflect the bounds constrained
problem.
3. Added static factory methods to the SnavelyReprojectionError.
4. Removed relative gradient tolerance from types.h as it is
not true anymore.
Change-Id: I8de386e5278a008c84ef2d3290d2c4351417a9f1
diff --git a/include/ceres/types.h b/include/ceres/types.h
index 47bdb4c..5784d50 100644
--- a/include/ceres/types.h
+++ b/include/ceres/types.h
@@ -305,7 +305,7 @@
// by the user was satisfied.
//
// 1. (new_cost - old_cost) < function_tolerance * old_cost;
- // 2. max_i |gradient_i| < gradient_tolerance * max_i|initial_gradient_i|
+ // 2. max_i |gradient_i| < gradient_tolerance
// 3. |step|_2 <= parameter_tolerance * ( |x|_2 + parameter_tolerance)
//
// The user's parameter blocks will be updated with the solution.
