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locusrobotics · Apr 17, 2019 · 46e8c98 · 46e8c98
1 parent cc91396
commit 46e8c98
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Showing 3 changed files with 8 additions and 22 deletions.
diff --git a/fuse_core/CMakeLists.txt b/fuse_core/CMakeLists.txt
@@ -198,12 +198,9 @@ if(CATKIN_ENABLE_TESTING)
   target_include_directories(test_local_parameterization
     PRIVATE
       include
-      ${CERES_INCLUDE_DIRS}
-      ${CMAKE_CURRENT_SOURCE_DIR}
   )
   target_link_libraries(test_local_parameterization
     ${PROJECT_NAME}
-    ${CERES_LIBRARIES}
   )
 
   # Message Buffer Tests

diff --git a/fuse_core/include/fuse_core/autodiff_local_parameterization.h b/fuse_core/include/fuse_core/autodiff_local_parameterization.h
@@ -55,7 +55,9 @@ namespace fuse_core
  *
  * And the second functor should compute the inverse operation:
  *
- *   Minus(x1, x2) -> delta, such that Minus(x, Plus(x, delta)) = delta
+ *   Minus(x1, x2) -> delta
+ *
+ * Minus() should be defined such that if Plus(x1, delta) -> x2, then Minus(x1, x2) -> delta
  *
  * The autodiff framework substitutes appropriate "Jet" objects for the template parameter T in order to compute
  * the derivative when necessary, but this is hidden, and you should write the function as if T were a scalar type
@@ -173,17 +175,8 @@ bool AutoDiffLocalParameterization<PlusFunctor, MinusFunctor, kGlobalSize, kLoca
   const double* x,
   double* jacobian) const
 {
-  double zero_delta[kLocalSize];
-  for (int i = 0; i < kLocalSize; ++i)
-  {
-    zero_delta[i] = 0.0;
-  }
-
+  double zero_delta[kLocalSize] = {};  // zero-initialize
   double x_plus_delta[kGlobalSize];
-  for (int i = 0; i < kGlobalSize; ++i)
-  {
-    x_plus_delta[i] = 0.0;
-  }
 
   const double* parameter_ptrs[2] = {x, zero_delta};
   double* jacobian_ptrs[2] = { NULL, jacobian };
@@ -205,11 +198,7 @@ bool AutoDiffLocalParameterization<PlusFunctor, MinusFunctor, kGlobalSize, kLoca
   const double* x,
   double* jacobian) const
 {
-  double delta[kLocalSize];
-  for (int i = 0; i < kLocalSize; ++i)
-  {
-    delta[i] = 0.0;
-  }
+  double delta[kLocalSize] = {};  // zero-initialize
 
   const double* parameter_ptrs[2] = {x, x};
   double* jacobian_ptrs[2] = { NULL, jacobian };

diff --git a/fuse_core/include/fuse_core/local_parameterization.h b/fuse_core/include/fuse_core/local_parameterization.h
@@ -56,11 +56,11 @@ class LocalParameterization : public ceres::LocalParameterization
   /**
    * @brief Generalization of the subtraction operation
    *
-   * delta = Minus(x1, x2)
+   * Minus(x1, x2) -> delta
    *
    * with the conditions that:
-   * Minus(x, x) = 0
-   * Minus(x, Plus(x, delta)) = delta
+   *  - Minus(x, x) -> 0
+   *  - if Plus(x1, delta) -> x2, then Minus(x1, x2) -> delta
    *
    * @param[in]  x1    The value of the first variable, of size \p GlobalSize()
    * @param[in]  x2    The value of the second variable, of size \p GlobalSize()