Class Orientation2DLocalParameterization

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