mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Mike Vitus
64 lines
2.6 KiB
C++
64 lines
2.6 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2016 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: vitus@google.com (Michael Vitus)
|
|
|
|
#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
|
|
#define CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
|
|
|
|
#include "ceres/local_parameterization.h"
|
|
#include "normalize_angle.h"
|
|
|
|
namespace ceres {
|
|
namespace examples {
|
|
|
|
// Defines a local parameterization for updating the angle to be constrained in
|
|
// [-pi to pi).
|
|
class AngleLocalParameterization {
|
|
public:
|
|
|
|
template <typename T>
|
|
bool operator()(const T* theta_radians, const T* delta_theta_radians,
|
|
T* theta_radians_plus_delta) const {
|
|
*theta_radians_plus_delta =
|
|
NormalizeAngle(*theta_radians + *delta_theta_radians);
|
|
|
|
return true;
|
|
}
|
|
|
|
static ceres::LocalParameterization* Create() {
|
|
return (new ceres::AutoDiffLocalParameterization<AngleLocalParameterization,
|
|
1, 1>);
|
|
}
|
|
};
|
|
|
|
} // namespace examples
|
|
} // namespace ceres
|
|
|
|
#endif // CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
|