Merge pull request #1 from artivis/feature/ceres-2.2

Support Ceres both pre/post 2.2

.github/workflows/ci.yml

@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04]
         build_type: [Release, Debug]
         compiler: [
           {
@@ -193,7 +193,13 @@ jobs:
 
   ceres:
     needs: [build-ubuntu]
-    runs-on: ubuntu-latest
+    # runs-on: ubuntu-latest
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      # Test for both Ceres pre/post 2.2
+      matrix:
+        os: [ubuntu-22.04, ubuntu-24.04]
     steps:
       - name: Checkout
         uses: actions/checkout@v2

include/manif/ceres/ceres.h

@@ -3,7 +3,11 @@
 
 #include "manif/ceres/constants.h"
 #include "manif/ceres/constraint.h"
+#if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 2
 #include "manif/ceres/manifold.h"
+#else
+#include "manif/ceres/local_parametrization.h"
+#endif
 #include "manif/ceres/objective.h"
 #include "manif/ceres/ceres_utils.h"
 
@@ -18,7 +22,11 @@ struct is_ad<ceres::Jet<_Scalar, _N>> : std::integral_constant<bool, true> { };
 
 #ifdef _MANIF_MANIF_SO2_H_
 using CeresConstraintSO2 = CeresConstraintFunctor<SO2d>;
+#if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 2
 using CeresManifoldSO2 = CeresManifoldFunctor<SO2d>;
+#else
+using CeresLocalParameterizationSO2 = CeresLocalParameterizationFunctor<SO2d>;
+#endif
 using CeresObjectiveSO2 = CeresObjectiveFunctor<SO2d>;
 #else
 using CeresConstraintSO2 = internal::YOU_MUST_INCLUDE_MANIF_BEFORE_CERES_HELPER_HEADERS;
@@ -28,7 +36,11 @@ using CeresObjectiveSO2 = internal::YOU_MUST_INCLUDE_MANIF_BEFORE_CERES_HELPER_H
 
 #ifdef _MANIF_MANIF_SO3_H_
 using CeresConstraintSO3 = CeresConstraintFunctor<SO3d>;
+#if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 2
 using CeresManifoldSO3 = CeresManifoldFunctor<SO3d>;
+#else
+using CeresLocalParameterizationSO3 = CeresLocalParameterizationFunctor<SO3d>;
+#endif
 using CeresObjectiveSO3 = CeresObjectiveFunctor<SO3d>;
 #else
 using CeresConstraintSO3 = internal::YOU_MUST_INCLUDE_MANIF_BEFORE_CERES_HELPER_HEADERS;
@@ -38,7 +50,11 @@ using CeresObjectiveSO3 = internal::YOU_MUST_INCLUDE_MANIF_BEFORE_CERES_HELPER_H
 
 #ifdef _MANIF_MANIF_SE2_H_
 using CeresConstraintSE2 = CeresConstraintFunctor<SE2d>;
+#if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 2
 using CeresManifoldSE2 = CeresManifoldFunctor<SE2d>;
+#else
+using CeresLocalParameterizationSE2 = CeresLocalParameterizationFunctor<SE2d>;
+#endif
 using CeresObjectiveSE2 = CeresObjectiveFunctor<SE2d>;
 #else
 using CeresConstraintSE2 = internal::YOU_MUST_INCLUDE_MANIF_BEFORE_CERES_HELPER_HEADERS;
@@ -48,7 +64,11 @@ using CeresObjectiveSE2 = internal::YOU_MUST_INCLUDE_MANIF_BEFORE_CERES_HELPER_H
 
 #ifdef _MANIF_MANIF_SE3_H_
 using CeresConstraintSE3 = CeresConstraintFunctor<SE3d>;
+#if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 2
 using CeresManifoldSE3 = CeresManifoldFunctor<SE3d>;
+#else
+using CeresLocalParameterizationSE3 = CeresLocalParameterizationFunctor<SE3d>;
+#endif
 using CeresObjectiveSE3 = CeresObjectiveFunctor<SE3d>;
 #else
 using CeresConstraintSE3 = internal::YOU_MUST_INCLUDE_MANIF_BEFORE_CERES_HELPER_HEADERS;

include/manif/ceres/ceres_utils.h

@@ -1,17 +1,26 @@
 #ifndef _MANIF_MANIF_CERES_UTILS_H_
 #define _MANIF_MANIF_CERES_UTILS_H_
 
+#if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 2
 #include "manif/ceres/manifold.h"
+#else
+#include "manif/ceres/local_parametrization.h"
+#endif
 #include "manif/ceres/objective.h"
 #include "manif/ceres/constraint.h"
 
+#if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 2
 #include <ceres/autodiff_manifold.h>
+#else
+#include <ceres/autodiff_local_parameterization.h>
+#endif
 #include <ceres/autodiff_cost_function.h>
 
 namespace manif {
 
+#if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 2
 /**
- * @brief Helper function to create a Ceres autodiff local parameterization wrapper.
+ * @brief Helper function to create a Ceres Manifold parameterization wrapper.
  * @see CeresManifoldFunctor
  */
 template <typename _LieGroup>
@@ -24,6 +33,22 @@ make_manifold_autodiff()
       ceres::AutoDiffManifold<
         CeresManifoldFunctor<_LieGroup>, _LieGroup::RepSize, _LieGroup::DoF>>();
 }
+#else
+/**
+ * @brief Helper function to create a Ceres autodiff local parameterization wrapper.
+ * @see CeresLocalParameterizationFunctor
+ */
+template <typename _LieGroup>
+std::shared_ptr<
+  ceres::AutoDiffLocalParameterization<CeresLocalParameterizationFunctor<_LieGroup>,
+  _LieGroup::RepSize, _LieGroup::DoF>>
+make_local_parameterization_autodiff()
+{
+  return std::make_shared<
+      ceres::AutoDiffLocalParameterization<
+        CeresLocalParameterizationFunctor<_LieGroup>, _LieGroup::RepSize, _LieGroup::DoF>>();
+}
+#endif
 
 /**
  * @brief Helper function to create a Ceres autodiff objective wrapper.

include/manif/ceres/constants.h

@@ -4,6 +4,7 @@
 #include "manif/constants.h"
 
 #include <ceres/jet.h>
+#include <ceres/version.h>
 
 namespace manif {
 

include/manif/ceres/local_parametrization.h

@@ -0,0 +1,46 @@
+#ifndef _MANIF_MANIF_CERES_LOCAL_PARAMETRIZATION_H_
+#define _MANIF_MANIF_CERES_LOCAL_PARAMETRIZATION_H_
+
+#include <Eigen/Core>
+
+namespace manif {
+
+/**
+ * @brief A wrapper for Ceres autodiff local parameterization.
+ */
+template <typename _LieGroup>
+class CeresLocalParameterizationFunctor
+{
+  using LieGroup = _LieGroup;
+  using Tangent  = typename _LieGroup::Tangent;
+
+  template <typename _Scalar>
+  using LieGroupTemplate = typename LieGroup::template LieGroupTemplate<_Scalar>;
+
+  template <typename _Scalar>
+  using TangentTemplate = typename Tangent::template TangentTemplate<_Scalar>;
+
+public:
+
+  CeresLocalParameterizationFunctor() = default;
+  virtual ~CeresLocalParameterizationFunctor() = default;
+
+  template<typename T>
+  bool operator()(const T* state_raw,
+                  const T* delta_raw,
+                  T* state_plus_delta_raw) const
+  {
+    const Eigen::Map<const LieGroupTemplate<T>> state(state_raw);
+    const Eigen::Map<const TangentTemplate<T>>  delta(delta_raw);
+
+    Eigen::Map<LieGroupTemplate<T>> state_plus_delta(state_plus_delta_raw);
+
+    state_plus_delta = state + delta;
+
+    return true;
+  }
+};
+
+} /* namespace manif */
+
+#endif /* _MANIF_MANIF_CERES_LOCAL_PARAMETRIZATION_H_ */

test/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.8)
+cmake_minimum_required(VERSION 3.5.1)
 
 find_package(GTest QUIET)