commit fdeb5772cc5eeebca4d776d220d80cc91b6d0f74
author Keir Mierle <mierle@gmail.com> Wed May 09 07:38:07 2012 -0700
committer Keir Mierle <mierle@gmail.com> Wed May 09 12:53:00 2012 -0700
tree ab712e1ceee0e3c0c35a1c4b5cd9fa4ceb9d2de7
parent da3e0563cc12e08e7b3e0fbf11d9cc8cfe9658aa

Support varying numbers of residuals in autodiff.

This commit modifies the only function in autodiff that takes a
templated number of outputs (i.e. residuals) and makes that
template parameter a normal parameter. With that change, it
is a trivial matter to support a dynamic number of residuals.

The API for dynamic residuals is to pass a fake number of
residuals as the second template argument to
AutoDiffCostFunction, and to pass the real number of
parameters as a second constructor argument.

internal/ceres/local_parameterization_test.cc

diff --git a/internal/ceres/local_parameterization_test.cc b/internal/ceres/local_parameterization_test.cc
index 1533884..26a57c1 100644
--- a/internal/ceres/local_parameterization_test.cc
+++ b/internal/ceres/local_parameterization_test.cc
@@ -176,8 +176,8 @@
   double* jacobian_array[2] = { NULL, jacobian_ref };
 
   // Autodiff jacobian at delta_x = 0.
-  internal::AutoDiff<QuaternionPlus, double, 4, 4, 3>::Differentiate(
-      QuaternionPlus(), parameters, x_plus_delta, jacobian_array);
+  internal::AutoDiff<QuaternionPlus, double, 4, 3>::Differentiate(
+      QuaternionPlus(), parameters, 4, x_plus_delta, jacobian_array);
 
   double jacobian[12];
   param.ComputeJacobian(x, jacobian);