// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2016 Google Inc. All rights reserved.
// 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<AngleLocalParameterization,
                                                     1, 1>);
  }
};

}  // namespace examples
}  // namespace ceres

#endif  // CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
