Merged in feature/3rdpartyCeres (pull request #65)

Third party ceres autodiff

gtsam/3rdparty/CMakeLists.txt

@@ -45,6 +45,8 @@ endif()
 option(GTSAM_BUILD_METIS_EXECUTABLES "Build metis library executables" OFF)
 add_subdirectory(metis)
 
+add_subdirectory(ceres)
+
 ############ NOTE:  When updating GeographicLib be sure to disable building their examples
 ############        and unit tests by commenting out their lines:
 # add_subdirectory (examples)

gtsam/3rdparty/ceres/CMakeLists.txt

@@ -0,0 +1,2 @@
+file(GLOB ceres_headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h")
+install(FILES ${ceres_headers} DESTINATION include/gtsam/3rdparty/ceres)

gtsam/3rdparty/ceres/autodiff.h

@@ -142,10 +142,10 @@
 
 #include <stddef.h>
 
-#include <gtsam_unstable/nonlinear/ceres_jet.h>
-#include <gtsam_unstable/nonlinear/ceres_eigen.h>
-#include <gtsam_unstable/nonlinear/ceres_fixed_array.h>
-#include <gtsam_unstable/nonlinear/ceres_variadic_evaluate.h>
+#include <gtsam/3rdparty/ceres/jet.h>
+#include <gtsam/3rdparty/ceres/eigen.h>
+#include <gtsam/3rdparty/ceres/fixed_array.h>
+#include <gtsam/3rdparty/ceres/variadic_evaluate.h>
 #define DCHECK assert
 #define DCHECK_GT(a,b) assert((a)>(b))
 

gtsam/3rdparty/ceres/example.h

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include <gtsam_unstable/nonlinear/ceres_rotation.h>
+#include <gtsam/3rdparty/ceres/rotation.h>
 
 // Templated pinhole camera model for used with Ceres. The camera is
 // parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for

gtsam/3rdparty/ceres/fixed_array.h

@@ -34,8 +34,8 @@
 
 #include <cstddef>
 #include <gtsam/3rdparty/gtsam_eigen_includes.h>
-#include <gtsam_unstable/nonlinear/ceres_macros.h>
-#include <gtsam_unstable/nonlinear/ceres_manual_constructor.h>
+#include <gtsam/3rdparty/ceres/macros.h>
+#include <gtsam/3rdparty/ceres/manual_constructor.h>
 
 namespace ceres {
 namespace internal {

gtsam/3rdparty/ceres/jet.h

@@ -163,7 +163,7 @@
 #include <string>
 
 #include <gtsam/3rdparty/gtsam_eigen_includes.h>
-#include <gtsam_unstable/nonlinear/ceres_fpclassify.h>
+#include <gtsam/3rdparty/ceres/fpclassify.h>
 
 namespace ceres {
 

gtsam/3rdparty/ceres/variadic_evaluate.h

@@ -34,9 +34,9 @@
 
 #include <stddef.h>
 
-#include <gtsam_unstable/nonlinear/ceres_jet.h>
-#include <gtsam_unstable/nonlinear/ceres_eigen.h>
-#include <gtsam_unstable/nonlinear/ceres_fixed_array.h>
+#include <gtsam/3rdparty/ceres/jet.h>
+#include <gtsam/3rdparty/ceres/eigen.h>
+#include <gtsam/3rdparty/ceres/fixed_array.h>
 
 namespace ceres {
 namespace internal {

gtsam_unstable/nonlinear/AdaptAutoDiff.h

@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include <gtsam_unstable/nonlinear/ceres_autodiff.h>
+#include <gtsam/3rdparty/ceres/autodiff.h>
 #include <gtsam/base/Manifold.h>
 
 namespace gtsam {

gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp

@@ -17,7 +17,7 @@
  * @brief unit tests for Block Automatic Differentiation
  */
 
-#include <gtsam_unstable/nonlinear/ceres_example.h>
+#include <gtsam/3rdparty/ceres/example.h>
 #include <gtsam_unstable/nonlinear/AdaptAutoDiff.h>
 #include <gtsam/nonlinear/Expression.h>
 #include <gtsam/geometry/PinholeCamera.h>

gtsam_unstable/timing/timeAdaptAutoDiff.cpp

@@ -17,7 +17,7 @@
  */
 
 #include "timeLinearize.h"
-#include <gtsam_unstable/nonlinear/ceres_example.h>
+#include <gtsam/3rdparty/ceres/example.h>
 #include <gtsam_unstable/nonlinear/AdaptAutoDiff.h>
 #include <gtsam_unstable/nonlinear/ExpressionFactor.h>
 #include <gtsam/slam/GeneralSFMFactor.h>