Autodiff local parameterization class
This class is used to create local parameterization
with Jacobians computed via automatic differentiation.
To get an auto differentiated local parameterization,
class with a templated operator() (a functor) that
computes
plus_delta = Plus(x, delta);
shall be defined.
Then given such functor, the auto differentiated local
parameterization can be constructed as
LocalParameterization* local_parameterization =
new AutoDiffLocalParameterization<PlusFunctor, 4, 3>;
| |
Global Size ---------------+ |
Local Size -------------------+
See autodiff_local_parameterization.h for more information
and usage example.
Initial implementation by Keir Mierle, finished by self
and integrated into Ceres and covered with unit tests
by Sameer Agarwal.
Change-Id: I1b3e48ae89f81e0cf1f51416c5696e18223f4b21
diff --git a/include/ceres/ceres.h b/include/ceres/ceres.h
index 7878806..ac76e97 100644
--- a/include/ceres/ceres.h
+++ b/include/ceres/ceres.h
@@ -38,6 +38,7 @@
#define CERES_ABI_VERSION 1.5.0
#include "ceres/autodiff_cost_function.h"
+#include "ceres/autodiff_local_parameterization.h"
#include "ceres/cost_function.h"
#include "ceres/cost_function_to_functor.h"
#include "ceres/crs_matrix.h"
