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Sergiu Deitsch
370631f01f
Define the relation between the axis-angle representation of a rotation and the corresponding unit quaternion as q(𝐞) = cos(𝜃/2) + sin(𝜃/2)/𝜃·𝐞 where 𝐞 = 𝜃𝛚 is the rotation vector given by the rotation angle 𝜃 and the unit axis of rotation 𝛚 instead of q(𝐞) = cos(𝜃) + sin(𝜃)/𝜃·𝐞 . This brings the former relation closer to the available functionality provided by ceres/rotation.h. Fixes #941 Change-Id: Id40c065f78593887ecc52e67a068737d7eb5bda6
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.