Various corrections and enhancements to the documentation.
Change-Id: I03519bfccf4367b36d36006f1450d5fbcbbf8621
diff --git a/docs/source/tutorial.rst b/docs/source/tutorial.rst
index 7e61386..bad5039 100644
--- a/docs/source/tutorial.rst
+++ b/docs/source/tutorial.rst
@@ -221,11 +221,9 @@
--------------------
In some cases, using automatic differentiation is not possible. For
-example, Ceres currently does not support automatic differentiation of
-functors with dynamically sized parameter blocks. Or it may be the
-case that it is more efficient to compute the derivatives in closed
-form instead of relying on the chain rule used by the automatic
-differentition code.
+example, it may be the case that it is more efficient to compute the
+derivatives in closed form instead of relying on the chain rule used
+by the automatic differentiation code.
In such cases, it is possible to supply your own residual and jacobian
computation code. To do this, define a subclass of
@@ -268,6 +266,20 @@
yourself, you use :class:`AutoDiffCostFunction` or
:class:`NumericDiffCostFunction` to construct your residual blocks.
+More About Derivatives
+----------------------
+
+Computing derivatives is by far the most complicated part of using
+Ceres, and depending on the circumstance the user may need more
+sophisticated ways of computing derivatives. This section just
+scratches the surface of how derivatives can be supplied to
+Ceres. Once you are comfortable with using
+:class:`NumericDiffCostFunction` and :class:`AutoDiffCostFunction` we
+recommend taking a look at :class:`DynamicAutoDiffCostFunction`,
+:class:`CostFunctionToFunctor`, :class:`NumericDiffFunctor` and
+:class:`ConditionedCostFunction` for more advanced ways of
+constructing and computing cost functions.
+
.. rubric:: Footnotes
.. [#f3] `examples/helloworld_numeric_diff.cc
@@ -286,7 +298,6 @@
of Powell's function. Let :math:`x = \left[x_1, x_2, x_3, x_4 \right]`
and
-
.. math::
\begin{align}
@@ -342,9 +353,7 @@
Note that each ``ResidualBlock`` only depends on the two parameters
that the corresponding residual object depends on and not on all four
-parameters.
-
-Compiling and running `examples/powell.cc
+parameters. Compiling and running `examples/powell.cc
<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/powell.cc>`_
gives us:
