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Minor fixes

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Based on William Rucklidge's review, including
a nasty bug in parameter block removal.

Change-Id: I3a692e589f600ff560ecae9fa85bb0b76063d403
This commit is contained in:
Sameer Agarwal
2013-02-22 13:37:01 -08:00
parent 9a88bd7c4b
commit beb4505311
9 changed files with 32 additions and 28 deletions
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include/ceres/rotation.h
+13 -7
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@@ -51,13 +51,19 @@
namespace ceres {
// Trivial wrapper to index linear arrays as matrices, given a fixed column and
// row stride. When an array "T* arr" is wrapped by a
// "(const) MatrixAdapter<T, row_stride, col_stride> M", the expression "M(i, j)" is
// equivalent to "arr[i * row_stride + j * col_stride]".
// Conversion functions to and from rotation matrices accept MatrixAdapters to
// permit using row-major and column-major layouts, and rotation matrices embedded in
// larger matrices (such as a 3x4 projection matrix).
// Trivial wrapper to index linear arrays as matrices, given a fixed
// column and row stride. When an array "T* array" is wrapped by a
//
// (const) MatrixAdapter<T, row_stride, col_stride> M"
//
// the expression M(i, j) is equivalent to
//
// arrary[i * row_stride + j * col_stride]
//
// Conversion functions to and from rotation matrices accept
// MatrixAdapters to permit using row-major and column-major layouts,
// and rotation matrices embedded in larger matrices (such as a 3x4
// projection matrix).
template <typename T, int row_stride, int col_stride>
struct MatrixAdapter;