├── .gitignore ├── PGO_data ├── CSAIL.g2o ├── MIT.g2o ├── intel.g2o ├── parking-garage.g2o ├── rim.g2o ├── sphere2500.g2o └── torus3D.g2o ├── README.md ├── SE-Sync ├── lib │ ├── Euclidean_Hessian_vector_product.m │ ├── Euclidean_gradient.m │ ├── Q_minus_Lambda_min_eig.m │ ├── Q_minus_Lambda_product.m │ ├── Qproduct.m │ ├── SE_Sync.m │ ├── chordal_initialization.m │ ├── compute_Lambda.m │ ├── construct_B_matrices.m │ ├── construct_V_matrix.m │ ├── construct_connection_Laplacian.m │ ├── construct_incidence_matrix.m │ ├── construct_problem_data.m │ ├── construct_translational_matrices.m │ ├── evaluate_objective.m │ ├── load_g2o_data.m │ ├── log_iterates.m │ ├── orthogonal_projection.m │ ├── plot_poses.m │ ├── project_to_SOd.m │ ├── quat2rot.m │ ├── rcvize_matrix.m │ ├── recover_translations.m │ ├── relative_func_decrease_stopfun.m │ └── round_solution.m └── manopt │ ├── CLA.txt │ ├── COPYING.txt │ ├── CREDITS.txt │ ├── LICENSE.txt │ ├── README.txt │ ├── checkinstall │ └── basicexample.m │ ├── examples │ ├── dominant_invariant_subspace.m │ ├── dominant_invariant_subspace_complex.m │ ├── essential_svd.m │ ├── generalized_eigenvalue_computation.m │ ├── generalized_procrustes.m │ ├── low_rank_dist_completion.m │ ├── low_rank_matrix_completion.m │ ├── low_rank_tensor_completion.m │ ├── maxcut.m │ ├── nonlinear_eigenspace.m │ ├── packing_on_the_sphere.m │ ├── positive_definite_karcher_mean.m │ ├── radio_interferometric_calibration.m │ ├── robust_pca.m │ ├── shapefit_smoothed.m │ ├── sparse_pca.m │ └── truncated_svd.m │ ├── importmanopt.m │ ├── manopt │ ├── core │ │ ├── StoreDB.m │ │ ├── applyStatsfun.m │ │ ├── canGetApproxHessian.m │ │ ├── canGetCost.m │ │ ├── canGetDirectionalDerivative.m │ │ ├── canGetEuclideanGradient.m │ │ ├── canGetGradient.m │ │ ├── canGetHessian.m │ │ ├── canGetLinesearch.m │ │ ├── canGetPrecon.m │ │ ├── canGetSqrtPrecon.m │ │ ├── getApproxHessian.m │ │ ├── getCost.m │ │ ├── getCostGrad.m │ │ ├── getDirectionalDerivative.m │ │ ├── getEuclideanGradient.m │ │ ├── getGlobalDefaults.m │ │ ├── getGradient.m │ │ ├── getHessian.m │ │ ├── getHessianFD.m │ │ ├── getLinesearch.m │ │ ├── getPrecon.m │ │ ├── getSqrtPrecon.m │ │ ├── getStore.m │ │ ├── handle_light.m │ │ ├── mergeOptions.m │ │ ├── purgeStoredb.m │ │ ├── setStore.m │ │ └── stoppingcriterion.m │ ├── manifolds │ │ ├── complexcircle │ │ │ └── complexcirclefactory.m │ │ ├── essential │ │ │ ├── README_Essential.txt │ │ │ ├── essential_costE2cost.m │ │ │ ├── essential_egradE2egrad.m │ │ │ ├── essential_ehessE2ehess.m │ │ │ ├── essential_flat.m │ │ │ ├── essential_hat3.m │ │ │ ├── essential_sharp.m │ │ │ ├── essentialfactory.m │ │ │ └── privateessential │ │ │ │ ├── essential_closestRepresentative.m │ │ │ │ ├── essential_distMinAngle.m │ │ │ │ ├── essential_distMinAnglePair.m │ │ │ │ ├── essential_distMinAnglePair_base.m │ │ │ │ ├── essential_distMinAnglePair_computeDfBreak.m │ │ │ │ ├── essential_distMinAnglePair_dfNewton.m │ │ │ │ ├── essential_distMinAnglePair_discontinuityDistance.m │ │ │ │ ├── essential_distMinAnglePair_ft.m │ │ │ │ ├── essential_distMinAnglePair_ftFromQ.m │ │ │ │ ├── essential_distMinAnglePair_test.m │ │ │ │ └── modAngle.m │ │ ├── euclidean │ │ │ ├── centeredmatrixfactory.m │ │ │ ├── euclideancomplexfactory.m │ │ │ ├── euclideanfactory.m │ │ │ ├── shapefitfactory.m │ │ │ └── symmetricfactory.m │ │ ├── fixedrank │ │ │ ├── fixedrankMNquotientfactory.m │ │ │ ├── fixedrankembeddedfactory.m │ │ │ ├── fixedrankfactory_2factors.m │ │ │ ├── fixedrankfactory_2factors_preconditioned.m │ │ │ ├── fixedrankfactory_2factors_subspace_projection.m │ │ │ ├── fixedrankfactory_3factors.m │ │ │ └── fixedrankfactory_3factors_preconditioned.m │ │ ├── fixedranktensors │ │ │ ├── fixedrankfactory_tucker_preconditioned.m │ │ │ └── tucker2multiarray.m │ │ ├── grassmann │ │ │ ├── grassmanncomplexfactory.m │ │ │ ├── grassmannfactory.m │ │ │ └── grassmanngeneralizedfactory.m │ │ ├── multinomial │ │ │ └── multinomialfactory.m │ │ ├── oblique │ │ │ └── obliquefactory.m │ │ ├── rotations │ │ │ ├── randrot.m │ │ │ ├── randskew.m │ │ │ └── rotationsfactory.m │ │ ├── specialeuclidean │ │ │ └── specialeuclideanfactory.m │ │ ├── sphere │ │ │ ├── spherecomplexfactory.m │ │ │ ├── spherefactory.m │ │ │ └── spheresymmetricfactory.m │ │ ├── stiefel │ │ │ ├── stiefelcomplexfactory.m │ │ │ ├── stiefelfactory.m │ │ │ ├── stiefelgeneralizedfactory.m │ │ │ └── stiefelstackedfactory.m │ │ └── symfixedrank │ │ │ ├── elliptopefactory.m │ │ │ ├── spectrahedronfactory.m │ │ │ ├── symfixedrankYYcomplexfactory.m │ │ │ ├── symfixedrankYYfactory.m │ │ │ └── sympositivedefinitefactory.m │ ├── solvers │ │ ├── conjugategradient │ │ │ └── conjugategradient.m │ │ ├── hessianapproximations │ │ │ └── approxhessianFD.m │ │ ├── linesearch │ │ │ ├── linesearch.m │ │ │ ├── linesearch_adaptive.m │ │ │ ├── linesearch_decrease.m │ │ │ └── linesearch_hint.m │ │ ├── neldermead │ │ │ ├── centroid.m │ │ │ └── neldermead.m │ │ ├── preconditioners │ │ │ └── preconhessiansolve.m │ │ ├── pso │ │ │ └── pso.m │ │ ├── steepestdescent │ │ │ └── steepestdescent.m │ │ └── trustregions │ │ │ ├── license for original GenRTR code.txt │ │ │ ├── tCG.m │ │ │ └── trustregions.m │ └── tools │ │ ├── checkdiff.m │ │ ├── checkgradient.m │ │ ├── checkhessian.m │ │ ├── dexpm.m │ │ ├── dfunm.m │ │ ├── diagsum.m │ │ ├── dlogm.m │ │ ├── dsqrtm.m │ │ ├── hashmd5.m │ │ ├── hessianextreme.m │ │ ├── hessianspectrum.m │ │ ├── identify_linear_piece.m │ │ ├── manoptsolve.m │ │ ├── matrixlincomb.m │ │ ├── multihconj.m │ │ ├── multiherm.m │ │ ├── multiprod.m │ │ ├── multiprodmultitransp_license.txt │ │ ├── multiscale.m │ │ ├── multiskew.m │ │ ├── multisqnorm.m │ │ ├── multisym.m │ │ ├── multitrace.m │ │ ├── multitransp.m │ │ ├── plotprofile.m │ │ ├── powermanifold.m │ │ ├── productmanifold.m │ │ ├── statsfunhelper.m │ │ ├── surfprofile.m │ │ ├── tangentspacefactory.m │ │ └── tangentspherefactory.m │ └── manopt_version.m ├── Tutorial_complete.mlx ├── 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