Program Listing for File manifold.hpp

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#ifndef FUSE_CORE__MANIFOLD_HPP_
#define FUSE_CORE__MANIFOLD_HPP_

#include <fuse_core/ceres_macros.hpp>

#if CERES_SUPPORTS_MANIFOLDS

#include <boost/serialization/access.hpp>
// Local parameterizations were marked as deprecated in favour of Manifold in
// version 2.1.0, see
// https://github.com/ceres-solver/ceres-solver/commit/0141ca090c315db2f3c38e1731f0fe9754a4e4cc
// and Local parameterizations were removed in 2.2.0, see
// https://github.com/ceres-solver/ceres-solver/commit/68c53bb39552cd4abfd6381df08638285f7386b3
#include <ceres/manifold.h>  // NOLINT[build/include_order]

#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/serialization.hpp>

namespace fuse_core
{
class Manifold : public ceres::Manifold
{
public:
  FUSE_SMART_PTR_ALIASES_ONLY(Manifold)


  virtual ~Manifold() = default;

  virtual int AmbientSize() const = 0;

  virtual int TangentSize() const = 0;

  virtual bool Plus(const double * x, const double * delta, double * x_plus_delta) const = 0;

  virtual bool PlusJacobian(const double * x, double * jacobian) const = 0;

  virtual bool Minus(const double * y, const double * x, double * y_minus_x) const = 0;

  virtual bool MinusJacobian(const double * x, double * jacobian) const = 0;

private:
  // Allow Boost Serialization access to private methods
  friend class boost::serialization::access;

  template<class Archive>
  void serialize(Archive & /* archive */, const unsigned int /* version */) {}
};

}  // namespace fuse_core

#endif

#endif  // FUSE_CORE__MANIFOLD_HPP_