Sergiu Deitsch 370631f01f Use Euler parameters in QuaternionPlusImpl ...

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

2025-06-13 16:23:24 -07:00

..

internal

Delete an unused file memory.h

2024-07-23 13:52:46 -07:00

autodiff_cost_function.h

Simplify instantiation of cost functions and their functors

2024-01-23 01:34:27 +01:00

autodiff_first_order_function.h

GradientProblem & related classes use std::unique_ptr

2024-09-15 21:57:23 +00:00

autodiff_manifold.h

Use Euler parameters in QuaternionPlusImpl

2025-06-13 16:23:24 -07:00

c_api.h

Preparing for 2.2.0rc1

2023-09-21 11:23:38 -07:00

ceres.h

Drop use of POSIX M_PI

2023-10-04 22:59:15 +02:00

conditioned_cost_function.h

Preparing for 2.2.0rc1

2023-09-21 11:23:38 -07:00

constants.h

Drop use of POSIX M_PI

2023-10-04 22:59:15 +02:00

context.h

Preparing for 2.2.0rc1

2023-09-21 11:23:38 -07:00

cost_function_to_functor.h

Take abseil as a dependency

2024-07-18 00:24:49 -07:00

cost_function.h

Simplify instantiation of cost functions and their functors

2024-01-23 01:34:27 +01:00

covariance.h

Preparing for 2.2.0rc1

2023-09-21 11:23:38 -07:00

crs_matrix.h

Preparing for 2.2.0rc1

2023-09-21 11:23:38 -07:00

cubic_interpolation.h

Do not restrict Grid1D and Grid2D output to double

2025-06-13 15:43:57 -07:00

dynamic_autodiff_cost_function.h

ceres::internal::FixedArray -> absl::FixedArray

2024-07-23 13:45:45 -07:00

dynamic_cost_function_to_functor.h

Ensure DynamicCostFunctionToFunctor to be exported

2025-02-17 23:59:36 +01:00

dynamic_cost_function.h

Preparing for 2.2.0rc1

2023-09-21 11:23:38 -07:00

dynamic_numeric_diff_cost_function.h

Take abseil as a dependency

2024-07-18 00:24:49 -07:00

evaluation_callback.h

Add an example for EvaluationCallback

2023-09-28 21:49:32 +00:00

first_order_function.h

Preparing for 2.2.0rc1

2023-09-21 11:23:38 -07:00

gradient_checker.h

ceres::internal::FixedArray -> absl::FixedArray

2024-07-23 13:45:45 -07:00

gradient_problem_solver.h

Preparing for 2.2.0rc1

2023-09-21 11:23:38 -07:00

gradient_problem.h

GradientProblem & related classes use std::unique_ptr

2024-09-15 21:57:23 +00:00

iteration_callback.h

ceres/stringprintf -> absl::strings

2024-08-08 07:05:23 -07:00

jet_fwd.h

Preparing for 2.2.0rc1

2023-09-21 11:23:38 -07:00

jet.h

Provide Jet Eigen::NumTraits quiet_NaN and infinity

2025-05-15 21:40:16 +02:00

line_manifold.h

Take abseil as a dependency

2024-07-18 00:24:49 -07:00

loss_function.h

Take abseil as a dependency

2024-07-18 00:24:49 -07:00

manifold_test_utils.h

Fix a number of typos

2024-07-21 15:15:36 -07:00

manifold.h

Fix a number of typos

2024-07-21 15:15:36 -07:00

normal_prior.h

Preparing for 2.2.0rc1

2023-09-21 11:23:38 -07:00

numeric_diff_cost_function.h

ceres::internal::FixedArray -> absl::FixedArray

2024-07-23 13:45:45 -07:00

numeric_diff_first_order_function.h

GradientProblem & related classes use std::unique_ptr

2024-09-15 21:57:23 +00:00

numeric_diff_options.h

Preparing for 2.2.0rc1

2023-09-21 11:23:38 -07:00

ordered_groups.h

Take abseil as a dependency

2024-07-18 00:24:49 -07:00

problem.h

Take abseil as a dependency

2024-07-18 00:24:49 -07:00

product_manifold.h

ceres::internal::FixedArray -> absl::FixedArray

2024-07-23 13:45:45 -07:00

rotation.h

Allow AngleAxisRotatePoint to be applied in-place

2025-06-10 23:14:28 +02:00

sized_cost_function.h

Simplify instantiation of cost functions and their functors

2024-01-23 01:34:27 +01:00

solver.h

Add mixed precision solves for SUITE_SPARSE

2024-08-24 21:12:54 -07:00

sphere_manifold.h

Take abseil as a dependency

2024-07-18 00:24:49 -07:00

tiny_solver_autodiff_function.h

Preparing for 2.2.0rc1

2023-09-21 11:23:38 -07:00

tiny_solver_cost_function_adapter.h

Take abseil as a dependency

2024-07-18 00:24:49 -07:00

tiny_solver.h

Add residuals and jacobian getters to TinySolver.

2025-02-11 21:07:58 +00:00

types.h

Fix a number of typos

2024-07-21 15:15:36 -07:00

version.h

Change the version from 2.2.0 to 2.3.0

2024-08-24 09:29:51 -07:00