Program Listing for File orientation_2d_stamped.hpp
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#ifndef FUSE_VARIABLES__ORIENTATION_2D_STAMPED_HPP_
#define FUSE_VARIABLES__ORIENTATION_2D_STAMPED_HPP_
#include <ostream>
#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/export.hpp>
#include <fuse_core/ceres_macros.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/local_parameterization.hpp>
#include <fuse_core/manifold.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_core/util.hpp>
#include <fuse_core/uuid.hpp>
#include <fuse_core/variable.hpp>
#include <fuse_variables/fixed_size_variable.hpp>
#include <fuse_variables/stamped.hpp>
#include <rclcpp/time.hpp>
namespace fuse_variables
{
class Orientation2DLocalParameterization : public fuse_core::LocalParameterization
{
public:
FUSE_SMART_PTR_DEFINITIONS(Orientation2DLocalParameterization)
int GlobalSize() const override
{
return 1;
}
int LocalSize() const override
{
return 1;
}
bool Plus(
const double * x,
const double * delta,
double * x_plus_delta) const override
{
// Compute the angle increment as a linear update, and handle the 2*Pi rollover
x_plus_delta[0] = fuse_core::wrapAngle2D(x[0] + delta[0]);
return true;
}
bool ComputeJacobian(
const double * /*x*/,
double * jacobian) const override
{
jacobian[0] = 1.0;
return true;
}
bool Minus(
const double * x,
const double * y,
double * y_minus_x) const override
{
// Compute the difference from x to y, and handle the 2*Pi rollover
y_minus_x[0] = fuse_core::wrapAngle2D(y[0] - x[0]);
return true;
}
bool ComputeMinusJacobian(
const double * /*x*/,
double * jacobian) const override
{
jacobian[0] = 1.0;
return true;
}
private:
// Allow Boost Serialization access to private methods
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & archive, const unsigned int /* version */)
{
archive & boost::serialization::base_object<fuse_core::LocalParameterization>(*this);
}
};
#if CERES_SUPPORTS_MANIFOLDS
class Orientation2DManifold : public fuse_core::Manifold
{
public:
FUSE_SMART_PTR_DEFINITIONS(Orientation2DManifold)
int AmbientSize() const override {return 1;}
int TangentSize() const override {return 1;}
bool Plus(const double * x, const double * delta, double * x_plus_delta) const override
{
// Compute the angle increment as a linear update, and handle the 2*Pi rollover
x_plus_delta[0] = fuse_core::wrapAngle2D(x[0] + delta[0]);
return true;
}
bool PlusJacobian(const double * /*x*/, double * jacobian) const override
{
jacobian[0] = 1.0;
return true;
}
bool Minus(const double * y, const double * x, double * y_minus_x) const override
{
// Compute the difference from y to x, and handle the 2*Pi rollover
y_minus_x[0] = fuse_core::wrapAngle2D(y[0] - x[0]);
return true;
}
bool MinusJacobian(const double * /*x*/, double * jacobian) const override
{
jacobian[0] = 1.0;
return true;
}
private:
// Allow Boost Serialization access to private methods
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & archive, const unsigned int /* version */)
{
archive & boost::serialization::base_object<fuse_core::Manifold>(*this);
}
};
#endif
class Orientation2DStamped : public FixedSizeVariable<1>, public Stamped
{
public:
FUSE_VARIABLE_DEFINITIONS(Orientation2DStamped)
enum : size_t
{
YAW = 0
};
Orientation2DStamped() = default;
explicit Orientation2DStamped(
const rclcpp::Time & stamp,
const fuse_core::UUID & device_id = fuse_core::uuid::NIL);
double & yaw() {return data_[YAW];}
const double & yaw() const {return data_[YAW];}
void print(std::ostream & stream = std::cout) const override;
size_t localSize() const override {return 1u;}
fuse_core::LocalParameterization * localParameterization() const override;
#if CERES_SUPPORTS_MANIFOLDS
fuse_core::Manifold * manifold() const override;
#endif
private:
// Allow Boost Serialization access to private methods
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & archive, const unsigned int /* version */)
{
archive & boost::serialization::base_object<FixedSizeVariable<SIZE>>(*this);
archive & boost::serialization::base_object<Stamped>(*this);
}
};
} // namespace fuse_variables
#if CERES_SUPPORTS_MANIFOLDS
BOOST_CLASS_EXPORT_KEY(fuse_variables::Orientation2DManifold);
#endif
BOOST_CLASS_EXPORT_KEY(fuse_variables::Orientation2DLocalParameterization);
BOOST_CLASS_EXPORT_KEY(fuse_variables::Orientation2DStamped);
#endif // FUSE_VARIABLES__ORIENTATION_2D_STAMPED_HPP_