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- Decompose cost functions into individual files grouped by topic.
- Move to cost_functions sub-folder to keep estimators folder manageable.
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How about ceres_cost_functions? But even so manifold does not conceptually belong to this folder. Some ideas: ceres_components? ceres_utils? ceres_helpers? ceres_extensions?
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Let's keep it as cost_functions for now, we can rename it later or introduce another level in the hierarchy with a ceres and caspar sub-folder.