How to interface with AutoDiffCostFunction, Nand Manifold

[Salih Marangoz]

Hello,

I found that it is possible to use a numeric diff functor (NumericDiffCostFunction + CostFunctionToFunctor) inside a AutoDiffCostFunction: http://ceres-solver.org/interfacing_with_autodiff.html (I hope I understand correctly.)

I wonder, is it possible to set a manifold for passed parameters? For example, I would like to pass a quaternion to numeric diff functor with QuaternionManifold, and use the numeric diff functor inside a AutoDiffCostFunction.

Best,

Salih M.

[Sameer Agarwal]

Salih,

What you are proposing is not possible with existing tools but you can easily compose a construction with a manifold yourself to get tangent space derivatives.

Sameer 

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