lm_rotations.inl File Reference

Autodiff-safe rotations for Levenberg-Marquardt kinematic optimizer. More...

#include <algorithm>
#include <cmath>
#include <limits>
#include "assert.h"
#include "float.h"
#include "lm_defines.hpp"
#include "lm_rotations_ceres.inl"

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Macros
#define	likely(x)   __builtin_expect((x), 1)
#define	unlikely(x)   __builtin_expect((x), 0)
#define	assert_quat_length_1(q)

Functions
template<typename T >
void	xrt::tracking::hand::mercury::lm::CurlToQuaternion (const T &curl, Quat< T > &result)
template<typename T >
void	xrt::tracking::hand::mercury::lm::SwingToQuaternion (const Vec2< T > swing, Quat< T > &result)
template<typename T >
void	xrt::tracking::hand::mercury::lm::SwingTwistToQuaternion (const Vec2< T > swing, const T twist, Quat< T > &result)

Detailed Description

Autodiff-safe rotations for Levenberg-Marquardt kinematic optimizer.

Author

Moshi Turner moshi.nosp@m.turn.nosp@m.er@pr.nosp@m.oton.nosp@m.mail..nosp@m.com