mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sergey Sharybin
eeedd3a592
This class is used to create local parameterization
with Jacobians computed via automatic differentiation.
To get an auto differentiated local parameterization,
class with a templated operator() (a functor) that
computes
plus_delta = Plus(x, delta);
shall be defined.
Then given such functor, the auto differentiated local
parameterization can be constructed as
LocalParameterization* local_parameterization =
new AutoDiffLocalParameterization<PlusFunctor, 4, 3>;
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Global Size ---------------+ |
Local Size -------------------+
See autodiff_local_parameterization.h for more information
and usage example.
Initial implementation by Keir Mierle, finished by self
and integrated into Ceres and covered with unit tests
by Sameer Agarwal.
Change-Id: I1b3e48ae89f81e0cf1f51416c5696e18223f4b21
58 lines
2.5 KiB
C
58 lines
2.5 KiB
C
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: keir@google.com (Keir Mierle)
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//
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// This is a forwarding header containing the public symbols exported from
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// Ceres. Anything in the "ceres" namespace is available for use.
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#ifndef CERES_PUBLIC_CERES_H_
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#define CERES_PUBLIC_CERES_H_
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#define CERES_VERSION 1.5.0
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#define CERES_ABI_VERSION 1.5.0
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#include "ceres/autodiff_cost_function.h"
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#include "ceres/autodiff_local_parameterization.h"
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#include "ceres/cost_function.h"
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#include "ceres/cost_function_to_functor.h"
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#include "ceres/crs_matrix.h"
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#include "ceres/iteration_callback.h"
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#include "ceres/jet.h"
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#include "ceres/local_parameterization.h"
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#include "ceres/loss_function.h"
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#include "ceres/numeric_diff_cost_function.h"
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#include "ceres/numeric_diff_functor.h"
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#include "ceres/ordered_groups.h"
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#include "ceres/problem.h"
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#include "ceres/sized_cost_function.h"
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#include "ceres/solver.h"
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#include "ceres/types.h"
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#endif // CERES_PUBLIC_CERES_H_
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