Extract rotation parameterization to a separate file. (#479)

cartographer/mapping_3d/rotation_parameterization.h

@@ -0,0 +1,67 @@
+/*
+ * Copyright 2016 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef CARTOGRAPHER_MAPPING_3D_ROTATION_PARAMETERIZATION_H_
+#define CARTOGRAPHER_MAPPING_3D_ROTATION_PARAMETERIZATION_H_
+
+#include "cartographer/common/math.h"
+#include "ceres/jet.h"
+#include "ceres/rotation.h"
+
+namespace cartographer {
+namespace mapping_3d {
+
+struct YawOnlyQuaternionPlus {
+  template <typename T>
+  bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+    const T clamped_delta = common::Clamp(delta[0], T(-0.5), T(0.5));
+    T q_delta[4];
+    q_delta[0] = ceres::sqrt(1. - clamped_delta * clamped_delta);
+    q_delta[1] = T(0.);
+    q_delta[2] = T(0.);
+    q_delta[3] = clamped_delta;
+    ceres::QuaternionProduct(q_delta, x, x_plus_delta);
+    return true;
+  }
+};
+
+struct ConstantYawQuaternionPlus {
+  template <typename T>
+  bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+    const T delta_norm =
+        ceres::sqrt(common::Pow2(delta[0]) + common::Pow2(delta[1]));
+    const T sin_delta_over_delta =
+        delta_norm < 1e-6 ? T(1.) : ceres::sin(delta_norm) / delta_norm;
+    T q_delta[4];
+    q_delta[0] = delta_norm < 1e-6 ? T(1.) : ceres::cos(delta_norm);
+    q_delta[1] = sin_delta_over_delta * delta[0];
+    q_delta[2] = sin_delta_over_delta * delta[1];
+    q_delta[3] = T(0.);
+    // We apply the 'delta' which is interpreted as an angle-axis rotation
+    // vector in the xy-plane of the submap frame. This way we can align to
+    // gravity because rotations around the z-axis in the submap frame do not
+    // change gravity alignment, while disallowing random rotations of the map
+    // that have nothing to do with gravity alignment (i.e. we disallow steps
+    // just changing "yaw" of the complete map).
+    ceres::QuaternionProduct(x, q_delta, x_plus_delta);
+    return true;
+  }
+};
+
+}  // namespace mapping_3d
+}  // namespace cartographer
+
+#endif  // CARTOGRAPHER_MAPPING_3D_ROTATION_PARAMETERIZATION_H_

cartographer/mapping_3d/scan_matching/ceres_scan_matcher.cc

@@ -23,6 +23,7 @@
 #include "cartographer/common/ceres_solver_options.h"
 #include "cartographer/common/make_unique.h"
 #include "cartographer/mapping_3d/ceres_pose.h"
+#include "cartographer/mapping_3d/rotation_parameterization.h"
 #include "cartographer/mapping_3d/scan_matching/occupied_space_cost_functor.h"
 #include "cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor.h"
 #include "cartographer/mapping_3d/scan_matching/translation_delta_cost_functor.h"
@@ -34,23 +35,6 @@
 namespace cartographer {
 namespace mapping_3d {
 namespace scan_matching {
-namespace {
-
-struct YawOnlyQuaternionPlus {
-  template <typename T>
-  bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
-    const T clamped_delta = common::Clamp(delta[0], T(-0.5), T(0.5));
-    T q_delta[4];
-    q_delta[0] = ceres::sqrt(1. - clamped_delta * clamped_delta);
-    q_delta[1] = T(0.);
-    q_delta[2] = T(0.);
-    q_delta[3] = clamped_delta;
-    ceres::QuaternionProduct(q_delta, x, x_plus_delta);
-    return true;
-  }
-};
-
-}  // namespace
 
 proto::CeresScanMatcherOptions CreateCeresScanMatcherOptions(
     common::LuaParameterDictionary* const parameter_dictionary) {

cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc

@@ -33,6 +33,7 @@
 #include "cartographer/mapping_3d/ceres_pose.h"
 #include "cartographer/mapping_3d/imu_integration.h"
 #include "cartographer/mapping_3d/rotation_cost_function.h"
+#include "cartographer/mapping_3d/rotation_parameterization.h"
 #include "cartographer/mapping_3d/sparse_pose_graph/spa_cost_function.h"
 #include "cartographer/transform/transform.h"
 #include "ceres/ceres.h"
@@ -44,33 +45,6 @@ namespace cartographer {
 namespace mapping_3d {
 namespace sparse_pose_graph {
 
-namespace {
-
-struct ConstantYawQuaternionPlus {
-  template <typename T>
-  bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
-    const T delta_norm =
-        ceres::sqrt(common::Pow2(delta[0]) + common::Pow2(delta[1]));
-    const T sin_delta_over_delta =
-        delta_norm < 1e-6 ? T(1.) : ceres::sin(delta_norm) / delta_norm;
-    T q_delta[4];
-    q_delta[0] = delta_norm < 1e-6 ? T(1.) : ceres::cos(delta_norm);
-    q_delta[1] = sin_delta_over_delta * delta[0];
-    q_delta[2] = sin_delta_over_delta * delta[1];
-    q_delta[3] = T(0.);
-    // We apply the 'delta' which is interpreted as an angle-axis rotation
-    // vector in the xy-plane of the submap frame. This way we can align to
-    // gravity because rotations around the z-axis in the submap frame do not
-    // change gravity alignment, while disallowing random rotations of the map
-    // that have nothing to do with gravity alignment (i.e. we disallow steps
-    // just changing "yaw" of the complete map).
-    ceres::QuaternionProduct(x, q_delta, x_plus_delta);
-    return true;
-  }
-};
-
-}  // namespace
-
 OptimizationProblem::OptimizationProblem(
     const mapping::sparse_pose_graph::proto::OptimizationProblemOptions&
         options,