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Published 20 hours ago • verified publisher icon wavelab

Templatize geometry classes

Open leokoppel opened this issue 7 years ago • 2 comments

Current behaviour Rotation holds double values.

Desired behaviour Rotation accepts different scalar types as a template parameter.

Why? To use with automatic differentiation e.g. in Ceres.

leokoppel avatar Jul 18 '17 02:07 leokoppel

Doesn't ceres require doubles anyway?

Jebediah avatar Aug 04 '17 19:08 Jebediah

Not for autodiff. See http://ceres-solver.org/automatic_derivatives.html

leokoppel avatar Aug 05 '17 16:08 leokoppel