corelib
src
optimizer
ceres
pose_graph_2d
normalize_angle.h
Go to the documentation of this file.
1
// Ceres Solver - A fast non-linear least squares minimizer
2
// Copyright 2016 Google Inc. All rights reserved.
3
// http://ceres-solver.org/
4
//
5
// Redistribution and use in source and binary forms, with or without
6
// modification, are permitted provided that the following conditions are met:
7
//
8
// * Redistributions of source code must retain the above copyright notice,
9
// this list of conditions and the following disclaimer.
10
// * Redistributions in binary form must reproduce the above copyright notice,
11
// this list of conditions and the following disclaimer in the documentation
12
// and/or other materials provided with the distribution.
13
// * Neither the name of Google Inc. nor the names of its contributors may be
14
// used to endorse or promote products derived from this software without
15
// specific prior written permission.
16
//
17
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27
// POSSIBILITY OF SUCH DAMAGE.
28
//
29
// Author: vitus@google.com (Michael Vitus)
30
31
#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_
32
#define CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_
33
34
#include <cmath>
35
36
#include "ceres/ceres.h"
37
38
namespace
ceres
{
39
40
#if not(CERES_VERSION_MAJOR > 1 || (CERES_VERSION_MAJOR == 1 && CERES_VERSION_MINOR >= 12))
41
inline
double
floor
(
double
x) {
return
std::floor
(x); }
42
43
// The floor function should be used with extreme care as this operation will
44
// result in a zero derivative which provides no information to the solver.
45
//
46
// floor(a + h) ~= floor(a) + 0
47
template
<
typename
T,
int
N>
inline
48
Jet<T, N>
floor
(
const
Jet<T, N>& f) {
49
return
Jet<T, N>(
floor
(
f
.a));
50
}
51
#endif
52
53
namespace
examples {
54
55
// Normalizes the angle in radians between [-pi and pi).
56
template
<
typename
T>
57
inline
T
NormalizeAngle
(
const
T
& angle_radians) {
58
// Use ceres::floor because it is specialized for double and Jet types.
59
T
two_pi(2.0 *
M_PI
);
60
return
angle_radians -
61
two_pi *
ceres::floor
((angle_radians +
T
(
M_PI
)) / two_pi);
62
}
63
64
}
// namespace examples
65
}
// namespace ceres
66
67
#endif // CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_
ceres::examples::NormalizeAngle
T NormalizeAngle(const T &angle_radians)
Definition:
normalize_angle.h:57
glm::floor
GLM_FUNC_DECL genType floor(genType const &x)
Eigen::Triplet< double >
ceres
f
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
M_PI
#define M_PI
Definition:
tango-gl/include/tango-gl/util.h:66
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:13