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thirdparty/Sophus/sophus/sophus.hpp

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+// This file is part of Sophus.
+//
+// Copyright 2013 Hauke Strasdat
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights  to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+
+#ifndef SOPHUS_HPP
+#define SOPHUS_HPP
+
+#include <stdexcept>
+
+// fix log1p not being found on Android in Eigen
+#if defined( ANDROID )
+#include <cmath>
+namespace std {
+  using ::log1p;
+}
+#endif
+
+#include <Eigen/Eigen>
+#include <Eigen/Geometry>
+
+namespace Sophus {
+using namespace Eigen;
+
+template<typename Scalar>
+struct SophusConstants {
+  EIGEN_ALWAYS_INLINE static
+  const Scalar epsilon() {
+    return static_cast<Scalar>(1e-10);
+  }
+
+  EIGEN_ALWAYS_INLINE static
+  const Scalar pi() {
+    return static_cast<Scalar>(M_PI);
+  }
+};
+
+template<>
+struct SophusConstants<float> {
+  EIGEN_ALWAYS_INLINE static
+  float epsilon() {
+    return static_cast<float>(1e-5);
+  }
+
+  EIGEN_ALWAYS_INLINE static
+  float pi() {
+    return static_cast<float>(M_PI);
+  }
+};
+
+class SophusException : public std::runtime_error {
+public:
+  SophusException (const std::string& str)
+    : runtime_error("Sophus exception: " + str) {
+  }
+};
+
+}
+
+#endif