58 lines
1.6 KiB
C++
58 lines
1.6 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_POSE_GRAPH_CERES_POSE_H_
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#define CARTOGRAPHER_MAPPING_POSE_GRAPH_CERES_POSE_H_
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#include <array>
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#include <memory>
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#include "Eigen/Core"
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#include "cartographer/transform/rigid_transform.h"
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#include "ceres/ceres.h"
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namespace cartographer {
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namespace mapping {
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namespace pose_graph {
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class CeresPose {
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public:
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CeresPose(
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const transform::Rigid3d& rigid,
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std::unique_ptr<ceres::LocalParameterization> translation_parametrization,
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std::unique_ptr<ceres::LocalParameterization> rotation_parametrization,
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ceres::Problem* problem);
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const transform::Rigid3d ToRigid() const;
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double* translation() { return data_->translation.data(); }
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double* rotation() { return data_->rotation.data(); }
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private:
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struct Data {
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std::array<double, 3> translation;
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// Rotation quaternion as (w, x, y, z).
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std::array<double, 4> rotation;
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};
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std::shared_ptr<Data> data_;
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};
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} // namespace pose_graph
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_POSE_GRAPH_CERES_POSE_H_
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