Add checks in rotation.h for inplace operations.

Some rotation functions like UnitQuaternionRotatePoint,
QuaternionRotatePoint, etc. will calculate bad results if the input
point and output point points to the same memory (inplace operation).

This CL adds checks in debug mode to guard against it.

Change-Id: Id0a30e9a0286b340757f0790d417d9f9a3409810
1 file changed
tree: ff0e529561a0b647381fa70bc4d0a5dad0a06e5c
  1. .clang-format
  2. .gitignore
  3. .travis.yml
  4. BUILD
  5. CMakeLists.txt
  6. CONTRIBUTING.md
  7. LICENSE
  8. README.md
  9. WORKSPACE
  10. bazel/
  11. cmake/
  12. config/
  13. data/
  14. docs/
  15. examples/
  16. include/
  17. internal/
  18. package.xml
  19. scripts/
  20. travis/
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.