mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
77c0c4d09c
Also change NULL to nullptr. Change-Id: I80a2328185d7891f61e07e64d5c1b59e74588ac7
71 lines
2.7 KiB
C++
71 lines
2.7 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2022 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: vitus@google.com (Michael Vitus)
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// sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_MANIFOLD_H_
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#define CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_MANIFOLD_H_
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#include "ceres/autodiff_manifold.h"
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#include "normalize_angle.h"
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namespace ceres {
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namespace examples {
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// Defines a manifold for updating the angle to be constrained in [-pi to pi).
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class AngleManifold {
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public:
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template <typename T>
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bool Plus(const T* x_radians,
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const T* delta_radians,
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T* x_plus_delta_radians) const {
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*x_plus_delta_radians = NormalizeAngle(*x_radians + *delta_radians);
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return true;
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}
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template <typename T>
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bool Minus(const T* y_radians,
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const T* x_radians,
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T* y_minus_x_radians) const {
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*y_minus_x_radians =
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NormalizeAngle(*y_radians) - NormalizeAngle(*x_radians);
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return true;
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}
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static ceres::Manifold* Create() {
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return new ceres::AutoDiffManifold<AngleManifold, 1, 1>;
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}
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};
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} // namespace examples
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} // namespace ceres
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#endif // CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_MANIFOLD_H_
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