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Purge all remaining references to (defunct) LocalParameterization

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Change-Id: Iad2a49bfa6916c22929d822e07f754ef77ed023d
This commit is contained in:
Alex Stewart
2022-10-19 20:00:20 +01:00
parent 5f8c406e22
commit ccf32d70c7
7 changed files with 70 additions and 704 deletions
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docs/source/gradient_solver.rst
+7 -32
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@@ -48,12 +48,6 @@ 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++
@@ -61,12 +55,9 @@ Modeling
class GradientProblem {
public:
explicit GradientProblem(FirstOrderFunction* function);
GradientProblem(FirstOrderFunction* function,
LocalParameterization* parameterization);
GradientProblem(FirstOrderFunction* function,
Manifold* manifold);
int NumParameters() 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;
@@ -80,22 +71,18 @@ problems, instances of :class:`GradientProblem` not restricted in the
form of the objective function.
Structurally :class:`GradientProblem` is a composition of a
:class:`FirstOrderFunction` and optionally a
:class:`LocalParameterization` or a :class:`Manifold`.
:class:`FirstOrderFunction` and optionally a :class:`Manifold`.
The :class:`FirstOrderFunction` is responsible for evaluating the cost
and gradient of the objective function.
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 :class:`Manifold` is responsible for going back and forth between the
ambient space and the local tangent space. When 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:`LocalParameterization` or :class:`Manifold` objects passed to
it.
:class:`Manifold` objects passed to it.
.. function:: void Solve(const GradientProblemSolver::Options& options, const GradientProblem& problem, double* parameters, GradientProblemSolver::Summary* summary)
@@ -499,23 +486,11 @@ Solving
Number of parameters in the problem.
.. member:: int GradientProblemSolver::Summary::num_local_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.
.. 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.
:class:`Manifold` object is used.
.. member:: LineSearchDirectionType GradientProblemSolver::Summary::line_search_direction_type