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
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
- 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
For historical reasons we had a "using namespace std;" in port.h. This
is generally a bad idea. So removing it and along the way doing a bunch
of cpplint cleanup.
Change-Id: Ia125601a55ae62695e247fb0250df4c6f86c46c6
The schur ordering is used to construct an elimination
ordering for Schur type solvers when the user has not
supplied an elimination ordering.
The ordering algorithm does an ordered traversal of the
sparsity graph of the Hessian. The order in which this is
done used to be determined by the degree of the parameter
blocks with ties broken arbitrarily using the memory address
of the parameter blocks.
This introduced non-determinism in the solver, causing subtle
numerical differences in the value of the solution everytime
the solve was run.
This change introduces ComputeStableSchurOrdering which utilizes
a new function StableIndependentSetOrdering. The latter takes
as input an ordering of the vertices of the graph which is used
to break ties when ordering the vertice by degree. The former
constructs such an ordering by using the order in which the
parameter blocks were added to the Problem.
In this way, as long as the construction of the problem is
deterministic, the schur ordering will always be deterministic
too.
I have chosen not to delete the existing unstable implementations
of these functions as they are used by the inner iteration
minimizer.
Sometime in the near future I will clean up some of the duplicate
code and see if we can move all the code to using a stable ordering.
Change-Id: I8fbfa240d7307a2c3fe9b135f6968aa410d78780
Add automatic recursive independent set decomposition.
Clean up the naming and the API for inner iterations.
Change-Id: I3d7d6babb9756842d7367e14b7279d2df98fb724
Sameer Agarwal