68 lines
2.4 KiB
C++
68 lines
2.4 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_3D_ROTATION_PARAMETERIZATION_H_
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#define CARTOGRAPHER_MAPPING_3D_ROTATION_PARAMETERIZATION_H_
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#include "cartographer/common/math.h"
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#include "ceres/jet.h"
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#include "ceres/rotation.h"
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namespace cartographer {
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namespace mapping {
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struct YawOnlyQuaternionPlus {
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template <typename T>
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bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
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const T clamped_delta = common::Clamp(delta[0], T(-0.5), T(0.5));
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T q_delta[4];
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q_delta[0] = ceres::sqrt(1. - clamped_delta * clamped_delta);
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q_delta[1] = T(0.);
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q_delta[2] = T(0.);
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q_delta[3] = clamped_delta;
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ceres::QuaternionProduct(q_delta, x, x_plus_delta);
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return true;
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}
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};
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struct ConstantYawQuaternionPlus {
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template <typename T>
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bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
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const T delta_norm =
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ceres::sqrt(common::Pow2(delta[0]) + common::Pow2(delta[1]));
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const T sin_delta_over_delta =
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delta_norm < 1e-6 ? T(1.) : ceres::sin(delta_norm) / delta_norm;
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T q_delta[4];
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q_delta[0] = delta_norm < 1e-6 ? T(1.) : ceres::cos(delta_norm);
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q_delta[1] = sin_delta_over_delta * delta[0];
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q_delta[2] = sin_delta_over_delta * delta[1];
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q_delta[3] = T(0.);
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// We apply the 'delta' which is interpreted as an angle-axis rotation
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// vector in the xy-plane of the submap frame. This way we can align to
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// gravity because rotations around the z-axis in the submap frame do not
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// change gravity alignment, while disallowing random rotations of the map
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// that have nothing to do with gravity alignment (i.e. we disallow steps
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// just changing "yaw" of the complete map).
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ceres::QuaternionProduct(x, q_delta, x_plus_delta);
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return true;
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}
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_3D_ROTATION_PARAMETERIZATION_H_
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