1. Add a version history
2. Update copyright years across the code base
3. Run format_all.sh
4. Update version strings from 2.1.0 to 2.2.0 in the docs and
elsewhere.
Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
Since the number of manifolds used to initialize ProductManifold and
their types are known at compile-time, it is possible to avoid storing
pointers to the base class as required by a homogeneous, currently
dynamically sized container. Instead, we can use std::tuple<> as a
heterogenous container with the number of elements fixed at compile-time
that allows us to store the concrete manifold realizations.
The advantage of this approach is that we can bypass the vtable when
iterating over each manifold within ProductManifold. The indirection is
invoked only once while accessing the ProductManifoldImpl members.
Additionally, potential dynamic memory allocations by a std::vector can
be completely avoided. This makes the ProductManifold implementation
more efficient both in memory and runtime.
Change-Id: Ic71b0c175ab726f8992e9703f7666bca477baf19
Previously they were defined in manifold.h but their implementations
were in the internal directory and to prevent circular dependencies
the implementation headers were pushed to the bottom of manifold.h
This started out as one header and has become progressively worse
as more manifolds are templated.
This change moves the two manifolds into their own headers which
also contain their implementations.
Change-Id: I671da0279a47cd2ff1f52c69a1d159426f55bd80
This brings it in line with other manifolds like SphereManifold
and LineManifold, where the user has the choice to specify the size
of the manifold at compile time or runtime.
Most of the time the size is known at compile time so this will
speed up the common case.
Change-Id: I0c7ff8b7a9a64a81203eb11afc074874e208815a
Disable the definition of `min`/`max` macros by defining `NOMINMAX`
and prevent macro substitution in the public interface.
Also, quiet floating-point comparisons are defined as template functions
by the MSVC STL which causes compilation errors due to ambiguities in
resolving the template parameter types.
Fixes#668Fixes#716Fixes#718
Change-Id: I5fe7832a6a3a7ad0421a2557527528c34b88e9c7
Currently, the logic for exporting symbols is rather complicated: when
tests are enabled internal symbols are exported in addition to the
public symbols. Such logic causes several problems. (1) Test binaries
link against a Ceres build that is different from the final release
since fewer optimizations are applied if more symbols are exported. (2)
Also, some toolchains hide symbols by default breaking the existing
logic eventually causing linker errors.
Since internal symbols are not intended to be used outside of the
project, we can compile them into object files and use exactly the same
binary code both for the final build and the tests without relying on
conditionals.
By default, all symbols are now hidden unless annotated as public.
Internal symbols are explicitly marked as not being exported in case
users chose not to hide symbols by default.
Change-Id: I589dd10be2f6f438508783cf99d141af0120057b
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 MR ports the LineParameterization of manifolds. The unit test are
rewritten to use the manifold test facilities.
The LineManifold is extended so that it can also handle dynamic size
ambient space dimensions.
Change-Id: I1fe3cd34b56f74b72ca028c34f5368e9df9fe4d7
Do not define trivial constructors or destructors unless necessary
(e.g., for implementing pimpl) following the rule of zero. Define
virtual base class destructors out-of-line to avoid emitting vtables in
every translation unit.
Change-Id: Iea2d8978e62a8ee5a97b86cbb4e858d56e0fb274
Applied changes correspond to clang-tidy fixes
stemming from the modernize-use-equals-default check.
Change-Id: I254b0908a76d464131564b637cd0e42a6b03fb5a
virtual can be ambiguous. Applied changes correspond to clang-tidy fixes
stemming from the modernize-use-override check.
Change-Id: I973afd4680a5df587419777504aeb94467196b89
This MR adds SphereManifold ported from
HomogeneousVectorParameterization. Additionally the minus operator
and jacobian evaluation was implemented.
The unit tests were almost completly reimplemented and uses the
test facilities provided for manifolds.
Change-Id: Iccf72a2333bc921ff24c4d831db35020c653ee86
This is the first in a series of changes that will eventually
replace the LocalParameterization interface with the richer
Manifold interface.
1. Add the Manifold interface.
2. Add implementations and test for:
a. EuclideanManifold (formerly the IdentityParameterization)
b. SubsetManifold (formerly the SubsetParameterization)
c. ProductManifold (formerly the ProductParameterization)
The testing has been completely re-done, where instead of adhoc
testing, we now define a number of matchers which explicitly
enforce the invariants demanded by the Manifold interface.
Change-Id: I3f296d0964388d52b027c99dc86b7730d24d55fa
Sameer Agarwal