angle_local_parameterization.h
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00001 // Ceres Solver - A fast non-linear least squares minimizer
00002 // Copyright 2016 Google Inc. All rights reserved.
00003 // http://ceres-solver.org/
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00014 //   used to endorse or promote products derived from this software without
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00029 // Author: vitus@google.com (Michael Vitus)
00030 #ifndef CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
00031 #define CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
00032 #include "ceres/local_parameterization.h"
00033 #include "normalize_angle.h"
00034 namespace ceres {
00035 namespace examples {
00036 // Defines a local parameterization for updating the angle to be constrained in
00037 // [-pi to pi).
00038 class AngleLocalParameterization {
00039  public:
00040   template <typename T>
00041   bool operator()(const T* theta_radians, const T* delta_theta_radians,
00042                   T* theta_radians_plus_delta) const {
00043     *theta_radians_plus_delta =
00044         NormalizeAngle(*theta_radians + *delta_theta_radians);
00045     return true;
00046   }
00047   static ceres::LocalParameterization* Create() {
00048     return (new ceres::AutoDiffLocalParameterization<AngleLocalParameterization,
00049                                                      1, 1>);
00050   }
00051 };
00052 }  // namespace examples
00053 }  // namespace ceres
00054 #endif  // CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
00055 


hector_gps_calibration
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autogenerated on Wed Sep 6 2017 02:41:37