52 lines
2.2 KiB
C++
52 lines
2.2 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2016 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: vitus@google.com (Michael Vitus)
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#ifndef OPTIMIZATION_2D_NORMALIZE_ANGLE_H_
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#define OPTIMIZATION_2D_NORMALIZE_ANGLE_H_
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#include <cmath>
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#include <ceres/ceres.h>
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namespace ceres {
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namespace optimization_2d {
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// Normalizes the angle in radians between [-pi and pi).
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template <typename T>
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inline T NormalizeAngle(const T& angle_radians) {
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// Use ceres::floor because it is specialized for double and Jet types.
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T two_pi(2.0 * M_PI);
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return angle_radians -
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two_pi * ceres::floor((angle_radians + T(M_PI)) / two_pi);
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}
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} // namespace optimization_2d
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} // namespace ceres
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#endif // OPTIMIZATION_2D_NORMALIZE_ANGLE_H_
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