Class Orientation2DLocalParameterization

• Defined in File orientation_2d_stamped.hpp

Inheritance Relationships

Base Type

• public fuse_core::LocalParameterization

Class Documentation

class Orientation2DLocalParameterization : public fuse_core::LocalParameterization

A LocalParameterization class for 2D Orientations.

2D orientations add and subtract in the “usual” way, except for the 2*pi rollover issue. This local parameterization handles the rollover. Because the Jacobians for this parameterization are always identity, we implement this parameterization with “analytic” derivatives, instead of using the Ceres’s autodiff system.

Public Functions

inline int GlobalSize() const override

inline int LocalSize() const override

inline bool Plus(const double *x, const double *delta, double *x_plus_delta) const override

inline bool ComputeJacobian(const double*, double *jacobian) const override

inline bool Minus(const double *x1, const double *x2, double *delta) const override

inline bool ComputeMinusJacobian(const double*, double *jacobian) const override

Friends

friend class boost::serialization::access