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Deprecate LocalParameterizations

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Add [[deprecate]] notices to everything LocalParameterization
related.

Make sure that Ceres can be compiled without triggering
deprecation warnings.

Update the documentation:

a. Add deprecation notices.
b. Document interaction between LocalParameterization and Manifold
   coexisting in the Problem.
c. Add documentation for Manifold(s)

Change-Id: Ie4ad48963c83fded86e533c8c60561af402fbaff
This commit is contained in:
Sameer Agarwal
2022-01-24 11:39:21 -08:00
parent fdfa5184a5
commit 0141ca090c
22 changed files with 1159 additions and 204 deletions
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docs/source/gradient_solver.rst
+37 -12
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@@ -1,6 +1,8 @@
.. default-domain:: cpp
.. highlight:: c++
.. default-domain:: cpp
.. cpp:namespace:: ceres
.. _chapter-gradient_problem_solver:
@@ -46,6 +48,12 @@ Modeling
:class:`GradientProblem`
------------------------
.. NOTE::
The :class:`LocalParameterization` interface and associated classes
are deprecated. They will be removed in the version 2.2.0. Please use
:class:`Manifold` based constructor instead.
.. class:: GradientProblem
.. code-block:: c++
@@ -55,8 +63,11 @@ Modeling
explicit GradientProblem(FirstOrderFunction* function);
GradientProblem(FirstOrderFunction* function,
LocalParameterization* parameterization);
GradientProblem(FirstOrderFunction* function,
Manifold* manifold);
int NumParameters() const;
int NumLocalParameters() const;
int NumLocalParameters() const { return NumTangentParameters(); }
int NumTangentParameters() const;
bool Evaluate(const double* parameters, double* cost, double* gradient) const;
bool Plus(const double* x, const double* delta, double* x_plus_delta) const;
};
@@ -70,19 +81,21 @@ form of the objective function.
Structurally :class:`GradientProblem` is a composition of a
:class:`FirstOrderFunction` and optionally a
:class:`LocalParameterization`.
:class:`LocalParameterization` or a :class:`Manifold`.
The :class:`FirstOrderFunction` is responsible for evaluating the cost
and gradient of the objective function.
The :class:`LocalParameterization` is responsible for going back and
forth between the ambient space and the local tangent space. When a
:class:`LocalParameterization` is not provided, then the tangent space
is assumed to coincide with the ambient Euclidean space that the
gradient vector lives in.
The :class:`LocalParameterization`/:class:`Manifold` is responsible
for going back and forth between the ambient space and the local
tangent space. When a :class:`LocalParameterization` or a
:class:`Manifold` is not provided, then the tangent space is assumed
to coincide with the ambient Euclidean space that the gradient vector
lives in.
The constructor takes ownership of the :class:`FirstOrderFunction` and
:class:`LocalParamterization` objects passed to it.
:class:`LocalParameterization` or :class:`Manifold` objects passed to
it.
.. function:: void Solve(const GradientProblemSolver::Options& options, const GradientProblem& problem, double* parameters, GradientProblemSolver::Summary* summary)
@@ -342,8 +355,8 @@ Solving
where :math:`\|\cdot\|_\infty` refers to the max norm, :math:`\Pi`
is projection onto the bounds constraints and :math:`\boxplus` is
Plus operation for the overall local parameterization associated
with the parameter vector.
Plus operation for the manifold associated with the parameter
vector.
.. member:: double GradientProblemSolver::Options::parameter_tolerance
@@ -490,7 +503,19 @@ Solving
Dimension of the tangent space of the problem. This is different
from :member:`GradientProblemSolver::Summary::num_parameters` if a
:class:`LocalParameterization` object is used.
:class:`LocalParameterization`/:class:`Manifold` object is used.
.. NOTE::
``num_local_parameters`` is deprecated and will be removed in
Ceres Solver version 2.2.0. Please use ``num_tangent_parameters``
instead.
.. member:: int GradientProblemSolver::Summary::num_tangent_parameters
Dimension of the tangent space of the problem. This is different
from :member:`GradientProblemSolver::Summary::num_parameters` if a
:class:`LocalParameterization`/:class:`Manifold` object is used.
.. member:: LineSearchDirectionType GradientProblemSolver::Summary::line_search_direction_type