Change-Id: I36db7e705ad520321335ff2f438cba54d914bb5c

- Previously we were not listing gflags as a public dependency of Ceres
  if it and glog were found (and MINIGLOG was not being used). This
  does not reflect that if glog was compiled with gflags then it will
  #include gflags/gflags.h in glog/logging.h, thus making gflags a
  public dependency of anything linking against glog.
- On *nix OSs if glog/gflags are shared libraries this did not result
  in a link error when compiling Ceres as the gflags symbols were
  indirectly resolved.  However, on MSVC this is not the case, and this
  could result in unresolved gflags symbol link errors when compiling
  Ceres.
- Now we add gflags to the list of public Ceres dependencies if both
  glog and gflags are found (and MINIGLOG is not enabled).

Change-Id: I5ce6038fa816781cc81b378522068dc563d29c51

- The latest version of glog supports building with CMake, in which case
  it exports itself via CMake as a target that contains important meta
  information such as Windows-specific compilation definitions.
- This patch updates FindGlog.cmake such that it can optionally use
  an exported glog target if one exists, if not it will fall back to
  the current approach whereby the glog components are found manually.
  This behaviour (and the implementation) is very similar to that of
  FindGflags.cmake.

Change-Id: Idfb5f49c1b457707029bff52068f58237c0e285d

- GLOG_NO_ABBREVIATED_SEVERITIES is the default on Windows, in which
  case google::WARNING is not defined.
- Remove Ceres-specific redefinition of WARNING in mock-log.h fork
  in place of using non-abbreviated severity in the one place in
  levenberg_marquardt_strategy_test where ScopedMockLog is actually
  used.
- Remove unnecessary dependency of gradient_checking_cost_function_test
  on ScopedMockLog.

Change-Id: I9fb540f638037b6015fd264cfc618c9d60f5686c

Change-Id: I1d7cfda65de173ceba156cf1f684f56f6c62840b

- MSVC does not expose standard math constants, such as M_PI in <cmath>
  or <math.h> unless _USE_MATH_DEFINES is defined prior to their
  inclusion: https://msdn.microsoft.com/en-us/library/4hwaceh6.aspx.
- Use CMake to ensure that this is #defined when both Ceres and the
  examples are compiled, even though it should only be an issue for the
  examples where M_PI is used.

Change-Id: I67af75b100b8138a65514273d23bfe445d92652c

Change-Id: I7f04f5e82a6e47e8d22c902744729f3f6d93dee8

- gflags_report_not_found() calls gflags_reset_find_library_prefix()
  and we only reset CMAKE_FIND_LIBRARY_PREFIXES when performing a manual
  search for gflags, but gflags_report_not_found() is also used
  before the manual search when searching for an exported gflags target.
- As such, it was possible that we could have cleared
  CMAKE_FIND_LIBRARY_PREFIXES rather than reset it if
  gflags_report_not_found() was invoked during the exported target
  search.
- This patch prevents this possibility by verifying that the cached
  version of CMAKE_FIND_LIBRARY_PREFIXES exists before updating it.

Change-Id: I07528ae5f197a366c7da342196b3e977f9a1fc93

- alignas(0) should be ignored, however it results in a build error on
  GCC, so instead default to the alignment of double in Jets if
  we cannot align to 16-byte boundaries on the platform, but are
  compiling with C++11.

Change-Id: I2e54c69516ea2e1447a8bdc138b2dd70050c6dad

- As per Andrew Hunter’s comments in the commit which added Jet
  alignment when using C++11 here:
  https://ceres-solver-review.googlesource.com/#/c/7100, there is wide
  lattitude in the standard about what the maximum supported alignment
  can be.
- Previously, we were forcing the alignment to 1, if the value of
  alignof(std::max_align_t), which we use as a proxy for the maximum
  supported alignment on the platform, was < 16.
- An alignment of 1 is not valid for Jets, as it would weaken the
  natural alignment of the types within a Jet, which would typically be
  4 (32-bit systems) or 8 (64-bit systems), thus resulting in a compiler
  error.
- This was reported as issue 235 for Clang 3.8 on i386:
  https://github.com/ceres-solver/ceres-solver/issues/235.

Change-Id: Ie39e5499c64f9231f29ebf4392992b5c9ce2e385

Change-Id: I1c8bef059adc57476b5e75310fd7d983b8229bf7

In the process also move some documentation from the file header to
just above the class declaration.

This change is in response to https://github.com/ceres-solver/ceres-solver/issues/233

Change-Id: I08cff1a94c57b67dd2bd8be4dba8c3fce46b68ab

Also clang-format the file to fix some accumulated cruft.

Change-Id: Icf41e3f864a4fe925426477893602b50ff2131f4

Support for parameter tolerance was added to the line search
minimizer was added a while ago, and calling Solve on a
non-linear least squares problem supported it but for some reason
the GradientProblemSolver::Options struct was missing this
option even though the documentation suggested that it was present!

Thanks to Noah Snavely for reporting this bug.

Change-Id: I57cf4ab396bc822c19fa298529e113b89664a349

Needed for instantiation with Jet<float,N>.

Change-Id: I8ec07a844cc911a3c7f24c25797bd21c0bee07b5

This allows rotation.h to remove its dependency on glog.

Change-Id: Ia6aede93ee51a4bd4039570dc8edd100a7045329

This commit relaxes the tolerance value for comparing between the actual
local matrix and the expected local matrix. Without this fix,
EigenQuaternionParameterization.ZeroTest could fail as the difference
exactly matches the value of std::numeric_limits<double>::epsilon().

Change-Id: Ic4d3f26c0acdf5f16fead80dfdc53df9e7dabbf9

Thanks to Phillip Huebner for reporting this.

Change-Id: I9cddfbb373aeb496961d08e434fe661bff4abd29

Previously, the test for the projective camera model would fail as no
tolerance is set in line 144. To resolve this, this commit changes
assert_equal to assert_near.

Change-Id: I6cd3379083b1a10c7cd0a9cc83fd6962bb993cc9

Change-Id: Ic1b2e6f0e6eb9914f419fd0bb5af77b66252e57c

Change-Id: I23eaf0b46117a01440143001b74dacfa5e57cbf0

Change-Id: I8ad4d36a8b036417604a54644e0bb70dd1615feb

Change-Id: Ie5ab9a8ba2b727721565e1ded242609b6df5f8f5

Change-Id: I9a57b0541d6cebcb695ecb364a1d4ca04ea4e06c

Any result of an arithmetic operation on floating-point matrices
should never be checked for strict equality with some expected
value, due to limited floating point precision on different machines.
This fixes some occurences of exact checks in the gradient checker
unit test that were causing problems on some platforms.

Change-Id: I48e804c9c705dc485ce74ddfe51037d4957c8fcb

Intel C compiler strictly asks for parallel loops with collapse to be
perfectly nested. Otherwise, compiling Ceres with ICC will throw an
error at line 348 of covariance_impl.cc.

Change-Id: I1ecb68e89b7faf79e4153dfe6675c390d1780db4

1. SubsetParameterization can now be constructed such that all
parameters are constant. This is required for it be used as part
of a ProductParameterization to hold a part of parameter block
constant. For example, a parameter block consisting of a rotation
as a quaternion and a translation vector can now have a local
parameterization where the translation part is constant and the
quaternion part has a QuaternionParameterization associated with it.

2. The check for the tangent space of a parameterization being
positive dimensional. We were not doing this check up till now
and the user could accidentally create parameterizations like this
and create a problem for themselves. This will ensure that even
though one can construct a SubsetParameterization where all
parameters are constant, you cannot actually use it as a local
parameterization for an entire parameter block. Which is how
it was before, but the check was inside the SubsetParameterization
constructor.

3. Added more tests and refactored existing tests to be more
granular.

Change-Id: Ic0184a1f30e3bd8a416b02341781a9d98e855ff7

Change-Id: Ib2f0138ed7a1879ca3b2173e54092f7ae8dd5c9d

Change-Id: I729ae6501497746d1bb615cb893ad592e16ddf3f

Change-Id: Id543ee7d2a65b65c868554a17f593c0a4958e873

They were present as debugging checks but were causing problems
with the build on 32bit i386 due to numerical cancellation issues,
where x ~ -epsilon.

Removing these checks only changes the behaviour in Debug mode.
We are already handling such small negative numbers in production
if they occur. All that this change does is to remove the crash.

https://github.com/ceres-solver/ceres-solver/issues/212

Thanks to @NeroBurner and @debalance for reporting this.

Change-Id: I66480e86d4fa0a4b621204f2ff44cc3ff8d01c04

Reported by Richard Trieu.

Change-Id: I202b7a7df09cc19c92582d276ccf171edf88a9fb

The documentation for ExpectArraysClose and its implementation
did not match.

This change makes the polynomial_test not fail on 64bit AMD builds.

Thanks to Phillip Huebner for reporting this.

Change-Id: I503f2d3317a28d5885a34f8bdbccd49d20ae9ba2

Returning by reference leads to lifetime issues with the default
value which may go out of scope by the time it is used.

Thanks to @Ardavel for reporting this, as this causes graph_test
to fail on VS2015x64.

https://github.com/ceres-solver/ceres-solver/issues/216

Change-Id: I596481219cfbf7622d49a6511ea29193b82c8ba3

Change-Id: I0ed75a60718ef95199bb36f33d9eb99157d11d40

This fixes some signed-unsigned comparisons and a missing header
include.

Change-Id: Ieb2bf6e905faa74851bc4ac4658d2f1da24b6ecc

This is a follow-up on c/7470. GradientCheckingCostFunction calls
callback_->SetGradientErrorDetected() in its Evaluate method,
which will run in multiple threads simultaneously when enabling
this option in the solver. Thus, the string append operation
inside that method has to be protected by a mutex.

Change-Id: I314ef1df2be52595370d9af05851bf6da39bb45e

Solver::Options::numeric_derivative_relative_step_size to
Solver::Options::gradient_check_numeric_derivative_relative_step_size

Change-Id: Ib89ae3f87e588d4aba2a75361770d2cec26f07aa

Change-Id: Ieabdc2d40715e6b547ab22156ba32e9c8444b7ed

1. Use AVX if EIGEN_VECTORIZE_AVX is defined.
2. Make the cost of division same as the cost of multiplication.

These are updates to the original numtraits update needed for eigen 3.3
that Shaheen Gandhi sent out.

Change-Id: Ic1e3ed7d05a659c7badc79a894679b2dd61c51b9