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3 Commits

Author SHA1 Message Date
Keir Mierle f1e67cc90b Add support for up to 10 parameters in autodiff. 
Supporting only 6 parameters in autodiff was enough for most
cases, but 6 was not always sufficient. This extends the
current implementation to work with up to 10 parameters.
This also increases the number of parameters supported in
SizedCostFunction to 10.

Change-Id: Ic783602f93e6ddf4af24fa34eff37c0a4b775dc1
 2012-10-19 11:00:46 -07:00
Keir Mierle fdeb5772cc Support varying numbers of residuals in autodiff. 
This commit modifies the only function in autodiff that takes a
templated number of outputs (i.e. residuals) and makes that
template parameter a normal parameter. With that change, it
is a trivial matter to support a dynamic number of residuals.

The API for dynamic residuals is to pass a fake number of
residuals as the second template argument to
AutoDiffCostFunction, and to pass the real number of
parameters as a second constructor argument.
 2012-05-09 12:53:00 -07:00
Keir Mierle 8ebb073038 Initial commit of Ceres Solver. 2012-04-30 23:09:08 -07:00