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Sergiu Deitsch
8c50a34a1c
Allow to specify the memory layout of quaternion coefficients using a template parameter which defaults to Ceres coefficients order. The changes are, for the most part, backwards compatible unless the floating-point type is explicitly specified, e.g., as &ceres::QuaternionToAngleAxis<double> to obtain a pointer to the corresponding function. In such rare use cases, the coefficients order must be given explicitly first as ceres::QuaternionToAngleAxis<ceres::CeresQuaternionOrder>. In normal situations, however, this should not be needed. Change-Id: I05dd80f0593672dec656cc785cf06fe5268aee74
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.