angle_local_parameterization.h
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29 // Author: vitus@google.com (Michael Vitus)
30 
31 #ifndef CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
32 #define CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
33 
34 #include "ceres/local_parameterization.h"
35 #include "normalize_angle.h"
36 
37 namespace ceres {
38 namespace examples {
39 
40 // Defines a local parameterization for updating the angle to be constrained in
41 // [-pi to pi).
43  public:
44 
45  template <typename T>
46  bool operator()(const T* theta_radians, const T* delta_theta_radians,
47  T* theta_radians_plus_delta) const {
48  *theta_radians_plus_delta =
49  NormalizeAngle(*theta_radians + *delta_theta_radians);
50 
51  return true;
52  }
53 
54  static ceres::LocalParameterization* Create() {
55  return (new ceres::AutoDiffLocalParameterization<AngleLocalParameterization,
56  1, 1>);
57  }
58 };
59 
60 } // namespace examples
61 } // namespace ceres
62 
63 #endif // CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
ceres::examples::NormalizeAngle
T NormalizeAngle(const T &angle_radians)
Definition: normalize_angle.h:57
normalize_angle.h
ceres::examples::AngleLocalParameterization::operator()
bool operator()(const T *theta_radians, const T *delta_theta_radians, T *theta_radians_plus_delta) const
Definition: angle_local_parameterization.h:46
Eigen::Triplet< double >
ceres
ceres::examples::AngleLocalParameterization::Create
static ceres::LocalParameterization * Create()
Definition: angle_local_parameterization.h:54
ceres::examples::AngleLocalParameterization
Definition: angle_local_parameterization.h:42


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Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:06