1 files changed, 8 insertions, 0 deletions
diff --git a/extern/ceres/include/ceres/internal/householder_vector.h b/extern/ceres/include/ceres/internal/householder_vector.h
index 55f68e526a0..7700208be22 100644
--- a/extern/ceres/include/ceres/internal/householder_vector.h
+++ b/extern/ceres/include/ceres/internal/householder_vector.h
@@ -82,6 +82,14 @@ void ComputeHouseholderVector(const XVectorType& x,
   v->head(v->rows() - 1) /= v_pivot;
 }
 
+template <typename XVectorType, typename Derived>
+typename Derived::PlainObject ApplyHouseholderVector(
+    const XVectorType& y,
+    const Eigen::MatrixBase<Derived>& v,
+    const typename Derived::Scalar& beta) {
+  return (y - v * (beta * (v.transpose() * y)));
+}
+
 }  // namespace internal
 }  // namespace ceres