// Ceres Solver - A fast non-linear least squares minimizer

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// http://ceres-solver.org/

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// Author: vitus@google.com (Michael Vitus)

#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_

#define CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_

#include "ceres/local_parameterization.h"

#include "normalize_angle.h"

namespace ceres {

namespace examples {

// Defines a local parameterization for updating the angle to be constrained in

// [-pi to pi).

class AngleLocalParameterization {

 public:

  template <typename T>

  bool operator()(const T* theta_radians, const T* delta_theta_radians,

                  T* theta_radians_plus_delta) const {

    *theta_radians_plus_delta =

        NormalizeAngle(*theta_radians + *delta_theta_radians);

    return true;

  }

  static ceres::LocalParameterization* Create() {

    return (new ceres::AutoDiffLocalParameterization

                                                     1, 1>);

  }

};

}  // namespace examples

}  // namespace ceres

#endif  // CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_