// Ceres Solver - A fast non-linear least squares minimizer
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// Author: vitus@google.com (Michael Vitus)

#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_
#define CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_

#include <cmath>

#include "ceres/ceres.h"

namespace ceres::examples {

// Normalizes the angle in radians between [-pi and pi).
template <typename T>
inline T NormalizeAngle(const T& angle_radians) {
  // Use ceres::floor because it is specialized for double and Jet types.
  T two_pi(2.0 * constants::pi);
  return angle_radians -
         two_pi * ceres::floor((angle_radians + T(constants::pi)) / two_pi);
}

}  // namespace ceres::examples

#endif  // CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_