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Sameer Agarwal
23b204d7e6
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
Ceres Solver
Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010. Ceres Solver can solve two kinds of problems.
- Non-linear Least Squares problems with bounds constraints.
- General unconstrained optimization problems.
Please see ceres-solver.org for more information.