Correct spelling in comments and docs.

Change-Id: Iad9a0599d644d3b3cd54244edaf64d408cb1308e

include/ceres/cost_function_to_functor.h

@@ -120,7 +120,7 @@ class CostFunctionToFunctor {
     if (parameter_block_sizes.size() == num_parameter_blocks) {
       for (int block = 0; block < num_parameter_blocks; ++block) {
         CHECK_EQ(ParameterDims::GetDim(block), parameter_block_sizes[block])
-            << "Parameter block size missmatch. The specified static parameter "
+            << "Parameter block size mismatch. The specified static parameter "
                "block dimension does not match the one from the cost function.";
       }
     }

include/ceres/covariance.h

@@ -280,7 +280,7 @@ class CERES_EXPORT Covariance {
     //
     //      min_sigma / max_sigma < sqrt(min_reciprocal_condition_number)
     //
-    //    where min_sigma and max_sigma are the minimum and maxiumum
+    //    where min_sigma and max_sigma are the minimum and maximum
     //    singular values of J respectively.
     //
     // 2. SPARSE_QR

include/ceres/cubic_interpolation.h

@@ -368,7 +368,7 @@ class BiCubicInterpolator {
 //
 //   f001, f002, f011, f012, ...
 //
-// A commonly occuring example are color images (RGB) where the three
+// A commonly occurring example are color images (RGB) where the three
 // channels are stored interleaved.
 //
 // If kInterleaved = false, then it is stored as

include/ceres/gradient_problem.h

@@ -94,7 +94,7 @@ class FirstOrderFunction;
 // NOTE: We are currently in the process of transitioning from
 // LocalParameterization to Manifolds in the Ceres API. During this period,
 // GradientProblem will support using both Manifold and LocalParameterization
-// objects interchangably. For methods in the API affected by this change, see
+// objects interchangeably. For methods in the API affected by this change, see
 // their documentation below.
 class CERES_EXPORT GradientProblem {
  public:

include/ceres/internal/sphere_manifold_functions.h

@@ -115,18 +115,18 @@ inline void ComputeSphereManifoldMinus(
       AmbientSpaceDim == Eigen::Dynamic ? Eigen::Dynamic : AmbientSpaceDim - 1;
   using AmbientVector = Eigen::Matrix<double, AmbientSpaceDim, 1>;
 
-  const int tanget_size = v.size() - 1;
+  const int tangent_size = v.size() - 1;
 
   const AmbientVector hy = ApplyHouseholderVector(y, v, beta) / x.norm();
 
   // Calculate y - x. See B.2 p.25 equation (108).
-  double y_last = hy[tanget_size];
-  double hy_norm = hy.template head<TangentSpaceDim>(tanget_size).norm();
+  double y_last = hy[tangent_size];
+  double hy_norm = hy.template head<TangentSpaceDim>(tangent_size).norm();
   if (hy_norm == 0.0) {
     y_minus_x->setZero();
   } else {
     *y_minus_x = 2.0 * std::atan2(hy_norm, y_last) / hy_norm *
-                 hy.template head<TangentSpaceDim>(tanget_size);
+                 hy.template head<TangentSpaceDim>(tangent_size);
   }
 }
 

include/ceres/jet.h

@@ -802,7 +802,7 @@ template <typename T, int N>
 inline Jet<T, N> erf(const Jet<T, N>& x) {
   // We evaluate the constant as follows:
   //   2 / sqrt(pi) = 1 / sqrt(atan(1.))
-  // On POSIX sytems it is defined as M_2_SQRTPI, but this is not
+  // On POSIX systems it is defined as M_2_SQRTPI, but this is not
   // portable and the type may not be T.  The above expression
   // evaluates to full precision with IEEE arithmetic and, since it's
   // constant, the compiler can generate exactly the same code.  gcc

include/ceres/problem.h

@@ -122,7 +122,7 @@ using ResidualBlockId = internal::ResidualBlock*;
 // NOTE: We are currently in the process of transitioning from
 // LocalParameterization to Manifolds in the Ceres API. During this period,
 // Problem will support using both Manifold and LocalParameterization objects
-// interchangably. In particular, adding a LocalParameterization to a parameter
+// interchangeably. In particular, adding a LocalParameterization to a parameter
 // block is the same as adding a Manifold to that parameter block. For methods
 // in the API affected by this change, see their documentation below.
 class CERES_EXPORT Problem {
@@ -276,7 +276,7 @@ class CERES_EXPORT Problem {
   //
   // Repeated calls with the same arguments are ignored. Repeated calls
   // with the same double pointer but a different size results in a crash
-  // (unless Solver::Options::diable_all_safety_checks is set to true).
+  // (unless Solver::Options::disable_all_safety_checks is set to true).
   //
   // Repeated calls with the same double pointer and size but different
   // LocalParameterization is equivalent to calling
@@ -308,7 +308,7 @@ class CERES_EXPORT Problem {
   //
   // Repeated calls with the same arguments are ignored. Repeated calls
   // with the same double pointer but a different size results in a crash
-  // (unless Solver::Options::diable_all_safety_checks is set to true).
+  // (unless Solver::Options::disable_all_safety_checks is set to true).
   //
   // Repeated calls with the same double pointer and size but different Manifold
   // is equivalent to calling SetManifold(manifold), i.e., any previously
@@ -377,7 +377,7 @@ class CERES_EXPORT Problem {
   //
   // It is acceptable to set the same LocalParameterization for multiple
   // parameter blocks; the destructor is careful to delete
-  // LocalParamaterizations only once.
+  // LocalParameterizations only once.
   //
   // NOTE:
   // ----
@@ -493,7 +493,7 @@ class CERES_EXPORT Problem {
       "instead.")
   int ParameterBlockLocalSize(const double* values) const;
 
-  // The dimenion of the tangent space of the LocalParameterization or Manifold
+  // The dimension of the tangent space of the LocalParameterization or Manifold
   // for the parameter block. If there is no LocalParameterization or Manifold
   // associated with this parameter block, then ParameterBlockTangentSize =
   // ParameterBlockSize.

include/ceres/rotation.h

@@ -60,7 +60,7 @@ namespace ceres {
 //
 // the expression  M(i, j) is equivalent to
 //
-//   arrary[i * row_stride + j * col_stride]
+//   array[i * row_stride + j * col_stride]
 //
 // Conversion functions to and from rotation matrices accept
 // MatrixAdapters to permit using row-major and column-major layouts,

include/ceres/tiny_solver_autodiff_function.h

@@ -171,7 +171,7 @@ class TinySolverAutoDiffFunction {
   const CostFunctor& cost_functor_;
 
   // The number of residuals at runtime.
-  // This will be overriden if NUM_RESIDUALS == Eigen::Dynamic.
+  // This will be overridden if NUM_RESIDUALS == Eigen::Dynamic.
   int num_residuals_ = kNumResiduals;
 
   // To evaluate the cost function with jets, temporary storage is needed. These