49 lines
1.9 KiB
C++
49 lines
1.9 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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#include "cartographer/mapping/pose_graph/ceres_pose.h"
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namespace cartographer {
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namespace mapping {
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namespace pose_graph {
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CeresPose::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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: data_(std::make_shared<CeresPose::Data>(
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CeresPose::Data{{{rigid.translation().x(), rigid.translation().y(),
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rigid.translation().z()}},
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{{rigid.rotation().w(), rigid.rotation().x(),
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rigid.rotation().y(), rigid.rotation().z()}}})) {
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problem->AddParameterBlock(data_->translation.data(), 3,
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translation_parametrization.release());
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problem->AddParameterBlock(data_->rotation.data(), 4,
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rotation_parametrization.release());
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}
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const transform::Rigid3d CeresPose::ToRigid() const {
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const auto& rotation = data_->rotation;
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return transform::Rigid3d(
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Eigen::Map<const Eigen::Vector3d>(data_->translation.data()),
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Eigen::Quaterniond(rotation[0], rotation[1], rotation[2], rotation[3]));
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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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