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Templatize geometry classes #182

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leokoppel opened this issue Jul 18, 2017 · 2 comments
Open

Templatize geometry classes #182

leokoppel opened this issue Jul 18, 2017 · 2 comments
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@leokoppel
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@leokoppel
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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 leokoppel self-assigned this Jul 18, 2017
@Jebediah
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Jebediah commented Aug 4, 2017

Doesn't ceres require doubles anyway?

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

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@Jebediah @leokoppel