源码可在https://github.com/learnmoreonce/SLAM 下载
文件:common/math.h
/*
common/math.h文件主要实现数学计算,包括:
区间截断.求n次方.求平方.幅度角度转换.归一化.反正切值
*/
#ifndef CARTOGRAPHER_COMMON_MATH_H_
#define CARTOGRAPHER_COMMON_MATH_H_
#include <cmath>
#include <vector>
#include "Eigen/Core"
#include "cartographer/common/port.h"
#include "ceres/ceres.h"
namespace cartographer {
namespace common {
// Clamps 'value' to be in the range ['min', 'max'].
//将val截取到区间min至max中.
template <typename T>
T Clamp(const T value, const T min, const T max) {
if (value > max) {
return max;
}
if (value < min) {
return min;
}
return value;
}
// Calculates 'base'^'exponent'. 计算base的exp次方
template <typename T>
constexpr T Power(T base, int exponent) {
return (exponent != 0) ? base * Power(base, exponent - 1) : T(1);
}
// Calculates a^2. 特化,求平方