1 files changed, 60 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/manifold_adapter.h b/extern/ceres/internal/ceres/manifold_adapter.h
new file mode 100644
index 00000000000..9a21456a731
--- /dev/null
+++ b/extern/ceres/internal/ceres/manifold_adapter.h
@@ -0,0 +1,60 @@
+#include "ceres/internal/export.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/manifold.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Adapter to wrap LocalParameterization and make them look like Manifolds.
+//
+// ManifoldAdapter NEVER takes ownership of local_parameterization.
+class CERES_NO_EXPORT ManifoldAdapter final : public Manifold {
+ public:
+  explicit ManifoldAdapter(const LocalParameterization* local_parameterization)
+      : local_parameterization_(local_parameterization) {
+    CHECK(local_parameterization != nullptr);
+  }
+
+  bool Plus(const double* x,
+            const double* delta,
+            double* x_plus_delta) const override {
+    return local_parameterization_->Plus(x, delta, x_plus_delta);
+  }
+
+  bool PlusJacobian(const double* x, double* jacobian) const override {
+    return local_parameterization_->ComputeJacobian(x, jacobian);
+  }
+
+  bool RightMultiplyByPlusJacobian(const double* x,
+                                   const int num_rows,
+                                   const double* ambient_matrix,
+                                   double* tangent_matrix) const override {
+    return local_parameterization_->MultiplyByJacobian(
+        x, num_rows, ambient_matrix, tangent_matrix);
+  }
+
+  bool Minus(const double* y, const double* x, double* delta) const override {
+    LOG(FATAL) << "This should never be called.";
+    return false;
+  }
+
+  bool MinusJacobian(const double* x, double* jacobian) const override {
+    LOG(FATAL) << "This should never be called.";
+    return false;
+  }
+
+  int AmbientSize() const override {
+    return local_parameterization_->GlobalSize();
+  }
+
+  int TangentSize() const override {
+    return local_parameterization_->LocalSize();
+  }
+
+ private:
+  const LocalParameterization* local_parameterization_;
+};
+
+}  // namespace internal
+}  // namespace ceres