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_solver.cc

diff --git a/frc971/imu/imu_calibrator_solver.cc b/frc971/imu/imu_calibrator_solver.cc
index 19b82e5..8948a47 100644
--- a/frc971/imu/imu_calibrator_solver.cc
+++ b/frc971/imu/imu_calibrator_solver.cc
@@ -38,8 +38,8 @@
     const std::vector<ImuConfig<double>> &nominal_config) {
   ceres::Problem problem;
 
-  ceres::EigenQuaternionParameterization *quaternion_local_parameterization =
-      new ceres::EigenQuaternionParameterization();
+  ceres::EigenQuaternionManifold *quaternion_local_parameterization =
+      new ceres::EigenQuaternionManifold();
   AllParameters<double> parameters;
   std::vector<size_t> num_readings;
   CHECK_EQ(nominal_config.size(), readings.size());