wolf auto_diff as a default auto_diff method

src/ceres_wrapper/ceres_manager.h

@@ -47,7 +47,7 @@ class CeresManager
 
 		void computeCovariances(CovarianceBlocksToBeComputed _blocks = ROBOT_LANDMARKS);
 
-		void update(const bool _self_auto_diff = false, const bool _apply_loss_function = false);
+		void update(const bool _self_auto_diff = true, const bool _apply_loss_function = false);
 
 		void addConstraint(ConstraintBase* _corr_ptr, const bool _self_auto_diff, const bool _apply_loss);
 

src/examples/test_autodiff.cpp

@@ -221,7 +221,7 @@ int main(int argc, char** argv)
         std::cout << "UPDATING CERES..." << std::endl;
         t1 = clock();
         // update state units and constraints in ceres
-        ceres_manager_ceres->update();
+        ceres_manager_ceres->update(false);
         ceres_manager_wolf->update(true);
         mean_times(2) += ((double) clock() - t1) / CLOCKS_PER_SEC;
 

src/examples/test_wolf_autodiffwrapper.cpp

@@ -275,7 +275,7 @@ int main(int argc, char** argv)
     // BUILD SOLVER PROBLEM
     std::cout << "updating ceres..." << std::endl;
     t1 = clock();
-    ceres_manager_ceres_diff->update();
+    ceres_manager_ceres_diff->update(false);
     double t_update_ceres = ((double) clock() - t1) / CLOCKS_PER_SEC;
     t1 = clock();
     ceres_manager_wolf_diff->update(true);