industrial_calibration::EigenQuaternionPlus Struct Reference

Local parameterization of an Eigen quaternion. More...

Detailed Description

As of version 1.12.0, Ceres does not provide implementations of auto-diff local parameterizations out of the box However, Ceres uses them in unit its own unit tests. This struct is adapted directly from the following Ceres unit test:

https://ceres-solver.googlesource.com/ceres-solver/+/master/internal/ceres/local_parameterization_test.cc#345 blob: 636cac29a78648e823758e154681583cd81d5b25

#include <local_parameterization.h>

Public Member Functions
template<typename T >
bool	operator() (const T *x, const T *delta, T *x_plus_delta) const