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src/ground_slam/include/optimization_2d/normalize_angle.h

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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+
+#ifndef OPTIMIZATION_2D_NORMALIZE_ANGLE_H_
+#define OPTIMIZATION_2D_NORMALIZE_ANGLE_H_
+
+#include <cmath>
+#include <ceres/ceres.h>
+
+namespace ceres {
+namespace optimization_2d {
+
+// 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 optimization_2d
+}  // namespace ceres
+
+#endif  // OPTIMIZATION_2D_NORMALIZE_ANGLE_H_