66 lines
1.9 KiB
C++
Executable File
66 lines
1.9 KiB
C++
Executable File
/*
|
|
* 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_INTERNAL_OPTIMIZATION_CERES_POSE_H_
|
|
#define CARTOGRAPHER_MAPPING_INTERNAL_OPTIMIZATION_CERES_POSE_H_
|
|
|
|
#include <array>
|
|
#include <memory>
|
|
|
|
#include "Eigen/Core"
|
|
#include "cartographer/transform/rigid_transform.h"
|
|
#include "ceres/ceres.h"
|
|
|
|
namespace cartographer {
|
|
namespace mapping {
|
|
namespace optimization {
|
|
|
|
class CeresPose {
|
|
public:
|
|
CeresPose(
|
|
const transform::Rigid3d& rigid,
|
|
std::unique_ptr<ceres::LocalParameterization> translation_parametrization,
|
|
std::unique_ptr<ceres::LocalParameterization> rotation_parametrization,
|
|
ceres::Problem* problem);
|
|
|
|
const transform::Rigid3d ToRigid() const;
|
|
|
|
double* translation() { return data_->translation.data(); }
|
|
const double* translation() const { return data_->translation.data(); }
|
|
|
|
double* rotation() { return data_->rotation.data(); }
|
|
const double* rotation() const { return data_->rotation.data(); }
|
|
|
|
struct Data {
|
|
std::array<double, 3> translation;
|
|
// Rotation quaternion as (w, x, y, z).
|
|
std::array<double, 4> rotation;
|
|
};
|
|
|
|
Data& data() { return *data_; }
|
|
|
|
private:
|
|
std::shared_ptr<Data> data_;
|
|
};
|
|
|
|
CeresPose::Data FromPose(const transform::Rigid3d& pose);
|
|
|
|
} // namespace optimization
|
|
} // namespace mapping
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_MAPPING_INTERNAL_OPTIMIZATION_CERES_POSE_H_
|