Program Listing for File manifold_adapter.hpp

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#ifndef FUSE_CORE__MANIFOLD_ADAPTER_HPP_
#define FUSE_CORE__MANIFOLD_ADAPTER_HPP_

#include <fuse_core/ceres_macros.hpp>

#if CERES_SUPPORTS_MANIFOLDS
#include <memory>
#include <utility>

#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/export.hpp>
#include <boost/serialization/shared_ptr.hpp>

#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/local_parameterization.hpp>
#include <fuse_core/manifold.hpp>

namespace fuse_core
{
class ManifoldAdapter : public fuse_core::Manifold
{
public:
  FUSE_SMART_PTR_DEFINITIONS(ManifoldAdapter)


  explicit ManifoldAdapter(fuse_core::LocalParameterization * local_parameterization)
  {
    local_parameterization_.reset(local_parameterization);
  }

  explicit ManifoldAdapter(fuse_core::LocalParameterization::SharedPtr local_parameterization)
  {
    local_parameterization_ = std::move(local_parameterization);
  }

  int AmbientSize() const override {return local_parameterization_->GlobalSize();}

  int TangentSize() const override {return local_parameterization_->LocalSize();}

  bool Plus(const double * x, const double * delta, double * x_plus_delta) const override
  {
    return local_parameterization_->Plus(x, delta, x_plus_delta);
  }

  bool PlusJacobian(const double * x, double * jacobian) const override
  {
    return local_parameterization_->ComputeJacobian(x, jacobian);
  }

  bool Minus(const double * y, const double * x, double * y_minus_x) const override
  {
    return local_parameterization_->Minus(x, y, y_minus_x);
  }

  bool MinusJacobian(const double * x, double * jacobian) const override
  {
    return local_parameterization_->ComputeMinusJacobian(x, jacobian);
  }

private:
  // Allow Boost Serialization access to private methods
  friend class boost::serialization::access;

  ManifoldAdapter() = default;

  template<class Archive>
  void serialize(Archive & archive, const unsigned int /* version */)
  {
    archive & boost::serialization::base_object<Manifold>(*this);
    archive & local_parameterization_;
  }

  fuse_core::LocalParameterization::SharedPtr local_parameterization_;
};

}  // namespace fuse_core

BOOST_CLASS_EXPORT_KEY(fuse_core::ManifoldAdapter);

#endif

#endif  // FUSE_CORE__MANIFOLD_ADAPTER_HPP_