ceres compatability header. More...

#include <utility>
#include <ceres/autodiff_manifold.h>
#include <ceres/internal/autodiff.h>
#include "smooth/detail/traits.hpp"
#include "smooth/detail/wrt_impl.hpp"
#include "smooth/lie_group_base.hpp"
#include "smooth/manifolds.hpp"
#include "smooth/wrt.hpp"

Include dependency graph for ceres.hpp:

Go to the source code of this file.

Classes
struct	detail::scalar_trait< ceres::Jet< T, I > >

Typedefs
template<Manifold G>
using	CeresLocalParameterization = ceres::AutoDiffManifold< CeresParamFunctor< G >, G::RepSize, G::Dof >
	Parameterization for on-manifold optimization with Ceres.

Functions
auto	dr_ceres (auto &&f, auto &&x)
	Automatic differentiation in tangent space.

Detailed Description

ceres compatability header.

Definition in file ceres.hpp.

Macro Definition Documentation

◆ SMOOTH_DIFF_CERES

#define SMOOTH_DIFF_CERES

Definition at line 15 of file ceres.hpp.

Typedef Documentation

◆ CeresLocalParameterization

template<Manifold G>

using CeresLocalParameterization = ceres::AutoDiffManifold<CeresParamFunctor<G>, G::RepSize, G::Dof>

Parameterization for on-manifold optimization with Ceres.

Definition at line 66 of file ceres.hpp.

Function Documentation

◆ dr_ceres()

auto dr_ceres	(	auto &&	f,
		auto &&	x
	)

Automatic differentiation in tangent space.

Parameters

f	function to differentiate
x	reference tuple of function arguments

Returns: std::pair containing value and right derivative: \((f(x), \mathrm{d}^r f_x)\)

Definition at line 75 of file ceres.hpp.

Classes

Typedefs