Program Listing for File orientation_2d_stamped.hpp

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#ifndef FUSE_VARIABLES__ORIENTATION_2D_STAMPED_HPP_
#define FUSE_VARIABLES__ORIENTATION_2D_STAMPED_HPP_

#include <ostream>

#include <fuse_core/local_parameterization.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_core/util.hpp>
#include <fuse_core/uuid.hpp>
#include <fuse_core/variable.hpp>
#include <fuse_variables/fixed_size_variable.hpp>
#include <fuse_variables/stamped.hpp>

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

#include <rclcpp/time.hpp>

namespace fuse_variables
{

class Orientation2DLocalParameterization : public fuse_core::LocalParameterization
{
public:
  int GlobalSize() const override
  {
    return 1;
  }

  int LocalSize() const override
  {
    return 1;
  }

  bool Plus(
    const double * x,
    const double * delta,
    double * x_plus_delta) const override
  {
    // Compute the angle increment as a linear update, and handle the 2*Pi rollover
    x_plus_delta[0] = fuse_core::wrapAngle2D(x[0] + delta[0]);
    return true;
  }

  bool ComputeJacobian(
    const double * /*x*/,
    double * jacobian) const override
  {
    jacobian[0] = 1.0;
    return true;
  }

  bool Minus(
    const double * x1,
    const double * x2,
    double * delta) const override
  {
    // Compute the difference from x2 to x1, and handle the 2*Pi rollover
    delta[0] = fuse_core::wrapAngle2D(x2[0] - x1[0]);
    return true;
  }

  bool ComputeMinusJacobian(
    const double * /*x*/,
    double * jacobian) const override
  {
    jacobian[0] = 1.0;
    return true;
  }

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

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

class Orientation2DStamped : public FixedSizeVariable<1>, public Stamped
{
public:
  FUSE_VARIABLE_DEFINITIONS(Orientation2DStamped)


  enum : size_t
  {
    YAW = 0
  };

  Orientation2DStamped() = default;

  explicit Orientation2DStamped(
    const rclcpp::Time & stamp,
    const fuse_core::UUID & device_id = fuse_core::uuid::NIL);

  double & yaw() {return data_[YAW];}

  const double & yaw() const {return data_[YAW];}

  void print(std::ostream & stream = std::cout) const override;

  size_t localSize() const override {return 1u;}

  fuse_core::LocalParameterization * localParameterization() const override;

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

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

}  // namespace fuse_variables

BOOST_CLASS_EXPORT_KEY(fuse_variables::Orientation2DLocalParameterization);
BOOST_CLASS_EXPORT_KEY(fuse_variables::Orientation2DStamped);

#endif  // FUSE_VARIABLES__ORIENTATION_2D_STAMPED_HPP_