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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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include/ceres/gradient_problem.h
+10 -5
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@@ -105,8 +105,11 @@ class CERES_EXPORT GradientProblem {
// NOTE: This constructor is deprecated and will be removed in the next public
// release of Ceres Solver. Please move to using the Manifold based
// constructor.
GradientProblem(FirstOrderFunction* function,
LocalParameterization* parameterization);
[[deprecated(
"LocalParameterizations are deprecated. Please use the constructor that "
"uses Manifold instead.")]] GradientProblem(FirstOrderFunction* function,
LocalParameterization*
parameterization);
// Takes ownership of the function and the manifold.
GradientProblem(FirstOrderFunction* function, Manifold* manifold);
@@ -151,7 +154,8 @@ class CERES_EXPORT GradientProblem {
//
// NOTE: This method is deprecated and will be removed in the next public
// release of Ceres Solver.
const LocalParameterization* parameterization() const {
[[deprecated("Use Manifolds instead.")]] const LocalParameterization*
parameterization() const {
return parameterization_.get();
}
@@ -160,13 +164,14 @@ class CERES_EXPORT GradientProblem {
//
// NOTE: This method is deprecated and will be removed in the next public
// release of Ceres Solver.
LocalParameterization* mutable_parameterization() {
[[deprecated("Use Manifolds instead.")]] LocalParameterization*
mutable_parameterization() {
return parameterization_.get();
}
private:
std::unique_ptr<FirstOrderFunction> function_;
std::unique_ptr<LocalParameterization> parameterization_;
[[deprecated]] std::unique_ptr<LocalParameterization> parameterization_;
std::unique_ptr<Manifold> manifold_;
std::unique_ptr<double[]> scratch_;
};