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hs293go
2b89ce66f0
Conversions function include Euler Angles to / from Rotation Matrices and Quaternions. They are generalized for any Euler convention that can be specified in the arguments. Algorithm is from "Euler angle conversion", Ken Shoemake, Graphics Gems IV Change-Id: I7f9ddc0b8d686efca16299d2ba374295744376ce
42 lines
2.0 KiB
C++
42 lines
2.0 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: hellston20a@gmail.com (H S Helson Go)
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#ifndef CERES_PUBLIC_CONSTANTS_H_
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#define CERES_PUBLIC_CONSTANTS_H_
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// TODO(HSHelson): This header should no longer be necessary once C++20's
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// <numbers> (e.g. std::numbers::pi_v) becomes usable
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namespace ceres::constants {
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template <typename T>
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inline constexpr T pi_v(3.141592653589793238462643383279502884);
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} // namespace ceres::constants
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#endif // CERES_PUBLIC_CONSTANTS_H_
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