normalize_angle.h
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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


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Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:13