Clean up rotation.h
Change-Id: I3370c9883728cda068c9650a2c2a50641fd8299c
diff --git a/include/ceres/rotation.h b/include/ceres/rotation.h
index ffac4f1..ea0b769 100644
--- a/include/ceres/rotation.h
+++ b/include/ceres/rotation.h
@@ -83,7 +83,7 @@
// The implementation may be used with auto-differentiation up to the first
// derivative, higher derivatives may have unexpected results near the origin.
template<typename T>
-void AngleAxisToQuaternion(T const* angle_axis, T* quaternion);
+void AngleAxisToQuaternion(const T* angle_axis, T* quaternion);
// Convert a quaternion to the equivalent combined axis-angle representation.
// The value quaternion must be a unit quaternion - it is not normalized first,
@@ -92,13 +92,13 @@
// The implemention may be used with auto-differentiation up to the first
// derivative, higher derivatives may have unexpected results near the origin.
template<typename T>
-void QuaternionToAngleAxis(T const* quaternion, T* angle_axis);
+void QuaternionToAngleAxis(const T* quaternion, T* angle_axis);
// Conversions between 3x3 rotation matrix (in column major order) and
// axis-angle rotation representations. Templated for use with
// autodifferentiation.
template <typename T>
-void RotationMatrixToAngleAxis(T const* R, T* angle_axis);
+void RotationMatrixToAngleAxis(const T* R, T* angle_axis);
template <typename T, int row_stride, int col_stride>
void RotationMatrixToAngleAxis(
@@ -106,11 +106,11 @@
T* angle_axis);
template <typename T>
-void AngleAxisToRotationMatrix(T const* angle_axis, T* R);
+void AngleAxisToRotationMatrix(const T* angle_axis, T* R);
template <typename T, int row_stride, int col_stride>
void AngleAxisToRotationMatrix(
- T const* angle_axis,
+ const T* angle_axis,
const MatrixAdapter<T, row_stride, col_stride>& R);
// Conversions between 3x3 rotation matrix (in row major order) and
@@ -300,14 +300,14 @@
// occurs and deals with them by taking code paths that are guaranteed
// to not perform division by a small number.
template <typename T>
-inline void RotationMatrixToAngleAxis(const T * R, T * angle_axis) {
+inline void RotationMatrixToAngleAxis(const T* R, T* angle_axis) {
RotationMatrixToAngleAxis(ColumnMajorAdapter3x3(R), angle_axis);
}
template <typename T, int row_stride, int col_stride>
void RotationMatrixToAngleAxis(
const MatrixAdapter<const T, row_stride, col_stride>& R,
- T * angle_axis) {
+ T* angle_axis) {
// x = k * 2 * sin(theta), where k is the axis of rotation.
angle_axis[0] = R(2, 1) - R(1, 2);
angle_axis[1] = R(0, 2) - R(2, 0);
@@ -385,13 +385,13 @@
}
template <typename T>
-inline void AngleAxisToRotationMatrix(const T * angle_axis, T * R) {
+inline void AngleAxisToRotationMatrix(const T* angle_axis, T* R) {
AngleAxisToRotationMatrix(angle_axis, ColumnMajorAdapter3x3(R));
}
template <typename T, int row_stride, int col_stride>
void AngleAxisToRotationMatrix(
- const T * angle_axis,
+ const T* angle_axis,
const MatrixAdapter<T, row_stride, col_stride>& R) {
static const T kOne = T(1.0);
const T theta2 = DotProduct(angle_axis, angle_axis);
