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add Rot2.ClosestTo()

release/4.3a0
John Lambert 2021-12-07 11:53:34 -07:00 committed by GitHub
parent 2252d5ee0d
commit dfb9497d81
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gtsam/geometry/Rot2.h
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@ -14,6 +14,7 @@
* @brief 2D rotation * @brief 2D rotation
* @date Dec 9, 2009 * @date Dec 9, 2009
* @author Frank Dellaert * @author Frank Dellaert
* @author John Lambert
*/ */
#pragma once #pragma once
@ -209,6 +210,9 @@ namespace gtsam {
/** return 2*2 transpose (inverse) rotation matrix */ /** return 2*2 transpose (inverse) rotation matrix */
Matrix2 transpose() const; Matrix2 transpose() const;
/** Find closest valid rotation matrix, given a 2x2 matrix */
static Rot2 ClosestTo(const Matrix2& M);
private: private:
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;