- 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
Since Ceres is moving to using GitHub for issues, and the Google
Code URL in the current copyright header will soon become invalid,
update all the headers.
Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
The standard sparse normal Cholesky solver assumes a fixed
sparsity pattern which is useful for a large number of problems
presented to Ceres. However, some problems are symbolically dense
but numerically sparse i.e. each residual is a function of a
large number of parameters but at any given state the residual
only depends on a sparse subset of them. For these class of
problems it is faster to re-analyse the sparsity pattern of the
jacobian at each iteration of the non-linear optimisation instead
of including all of the zero entries in the step computation.
The proposed solution adds the dynamic_sparsity option which can
be used with SPARSE_NORMAL_CHOLESKY. A
DynamicCompressedRowSparseMatrix type (which extends
CompressedRowSparseMatrix) has been introduced which allows
dynamic addition and removal of elements. A Finalize method is
provided which then consolidates the matrix so that it can be
used in place of a regular CompressedRowSparseMatrix. An
associated jacobian writer has also been provided.
Changes that were required to make this extension were adding the
SetMaxNumNonZeros method to CompressedRowSparseMatrix and adding
a JacobianFinalizer template parameter to the ProgramEvaluator.
Change-Id: Ia5a8a9523fdae8d5b027bc35e70b4611ec2a8d01
Sergiu Deitsch