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