fast_lio2 released!

include/IKFoM_toolkit/esekfom/util.hpp

@@ -0,0 +1,82 @@
+/*
+ *  Copyright (c) 2019--2023, The University of Hong Kong
+ *  All rights reserved.
+ *
+ *  Author: Dongjiao HE <hdj65822@connect.hku.hk>
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Universitaet Bremen nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef __MEKFOM_UTIL_HPP__
+#define __MEKFOM_UTIL_HPP__
+
+#include <Eigen/Core>
+#include "../mtk/src/mtkmath.hpp"
+namespace esekfom {
+
+template <typename T1, typename T2>
+class is_same {
+public:
+    operator bool() {
+        return false;
+    }
+};
+template<typename T1>
+class is_same<T1, T1> {
+public:
+    operator bool() {
+        return true;
+    }
+};
+
+template <typename T>
+class is_double {
+public:
+    operator bool() {
+        return false;
+    }
+};
+
+template<>
+class is_double<double> {
+public:
+    operator bool() {
+        return true;
+    }
+};
+
+template<typename T>
+static T
+id(const T &x)
+{
+	return x;
+}
+
+} // namespace esekfom
+	
+#endif // __MEKFOM_UTIL_HPP__