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Sameer Agarwal
3abe9326f1
Modernize ProductManifold using C++17 fold expressions and std::index_sequence to replace recursive implementations of Plus, Minus, and their Jacobians. This simplifies the code, removes the need for auxiliary recursive ...Impl methods, and improves index handling by using std::get<I> instead of pointer arithmetic. Change-Id: I28498216d8daae7485c382140613fd85519fa42c
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.