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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2016 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
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// modification, are permitted provided that the following conditions are met:
//
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// this list of conditions and the following disclaimer.
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// this list of conditions and the following disclaimer in the documentation
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// Author: vitus@google.com (Michael Vitus)
#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
#define CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
#include "ceres/local_parameterization.h"
#include "normalize_angle.h"
namespace ceres {
namespace examples {
// Defines a local parameterization for updating the angle to be constrained in
// [-pi to pi).
class AngleLocalParameterization {
public:
template <typename T>
bool operator()(const T* theta_radians,
const T* delta_theta_radians,
T* theta_radians_plus_delta) const {
*theta_radians_plus_delta =
NormalizeAngle(*theta_radians + *delta_theta_radians);
return true;
}
static ceres::LocalParameterization* Create() {
return (new ceres::AutoDiffLocalParameterization<AngleLocalParameterization,
1,
1>);
}
};
} // namespace examples
} // namespace ceres
#endif // CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_