Manifolds are now part of the public API and co-exist
with LocalParameterizations.
1. Add Manifolds to the Problem API.
a. AddParameterBlock(double*, int, Manifold*)
b. SetParameterization(double*, Manifold*)
b. GetManifold(const double*)
c. HasManifold(const double*)
2. Internally Ceres now only uses Manifolds. When the user uses
a LocalParameterization, it is wrapped in a ManifoldAdapter.
3. To preserve the API semantics while keeping the internals clean
we need a new map in ProblemImpl which stores the association
between parameter blocks and local parameterizations. This
is temporary, it will go away once this transition is complete.
4. There are NO algorithmic changes, as in we are not using
any of the expanded interface of the Manifold objects yet.
That will come later.
5. All tests that use LocalParameterization have been duplicated
to use Manifolds, and when this transition is complete the
LocalParameterization based tests will be deleted.
6. Public documentation for the API has been updated. Deprecation
notices to the documentation as well as C++ annotations will come
later.
7. Similar changes have been made to GradientProblem.
Change-Id: I8e03c8ced6e141876ef3eca5740c113afa788f0c
- Change formatting standard to Cpp11. Main difference is not having
the space between two closing >> for nested templates. We don't
choose c++14, because older versions of clang-format (version 9
and earlier) don't know this value yet, and it doesn't make a
difference in the formatting.
- Apply clang-format to all (non generated) internal source files.
- Manually fix some code sections (clang-format on/off) and c-strings
- Exclude some embedded external files with very different formatting
(gtest/gmock)
- Add script to format all source files
Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
Sameer Agarwal