commit 31f99a2c2e9aea6741f36ad3ded87b70bf354a06
author Austin Schuh <austin.linux@gmail.com> Tue Jun 25 18:30:13 2024 -0700
committer Austin Schuh <austin.linux@gmail.com> Tue Jun 25 19:00:40 2024 -0700
tree 5a1fe8efc33fe8d1bf3791f524ad08ef351e659b
parent acfda878d17c2981040c6904fab3d718e2d4bc67
parent 3de38b02fbcca083f00ae6ced0ab9e7716b2eefb

Merge commit 'cfb09d18272bb3c30585042533cbe7d876ef7ce0'

Upgrade ceres to the latest.

Change-Id: I2d8fb7d506a98f704e4e2f30e60030a0d6763b43
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

frc971/imu/imu_calibrator.h

diff --git a/frc971/imu/imu_calibrator.h b/frc971/imu/imu_calibrator.h
index be4c4d4..58ff12b 100644
--- a/frc971/imu/imu_calibrator.h
+++ b/frc971/imu/imu_calibrator.h
@@ -124,7 +124,7 @@
   Scalar time_offset;
 
   void PopulateParameters(
-      ceres::EigenQuaternionParameterization *quaternion_local_parameterization,
+      ceres::EigenQuaternionManifold *quaternion_local_parameterization,
       ceres::Problem *problem, ceres::DynamicCostFunction *cost_function,
       std::vector<double *> *parameters,
       std::vector<std::function<void()>> *post_populate_methods) {
@@ -134,8 +134,8 @@
     parameters->push_back(&time_offset);
     post_populate_methods->emplace_back(
         [this, problem, quaternion_local_parameterization]() {
-          problem->SetParameterization(rotation.coeffs().data(),
-                                       quaternion_local_parameterization);
+          problem->SetManifold(rotation.coeffs().data(),
+                               quaternion_local_parameterization);
           problem->SetParameterLowerBound(&time_offset, 0, -0.03);
           problem->SetParameterUpperBound(&time_offset, 0, 0.03);
         });
@@ -189,7 +189,7 @@
   std::vector<ImuConfig<Scalar>> imus;
   std::tuple<std::vector<double *>, std::vector<std::function<void()>>>
   PopulateParameters(
-      ceres::EigenQuaternionParameterization *quaternion_local_parameterization,
+      ceres::EigenQuaternionManifold *quaternion_local_parameterization,
       ceres::Problem *problem, ceres::DynamicCostFunction *cost_function) {
     std::vector<std::function<void()>> post_populate_methods;
     std::vector<double *> parameters;