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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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// Author: vitus@google.com (Michael Vitus)
#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_
#define CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_
#include <cmath>
#include "ceres/ceres.h"
namespace ceres::examples {
// Normalizes the angle in radians between [-pi and pi).
template <typename T>
inline T NormalizeAngle(const T& angle_radians) {
// Use ceres::floor because it is specialized for double and Jet types.
T two_pi(2.0 * M_PI);
return angle_radians -
two_pi * ceres::floor((angle_radians + T(M_PI)) / two_pi);
}
} // namespace ceres::examples
#endif // CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_