wolf_jet.h

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// WOLF - Copyright (C) 2020-2026
// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License version 3
// as published by the Free Software Foundation.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#pragma once
 
// Jet (dual numbers for automatic differentiation), adapted from Ceres Solver
#include "core/math/autodiff/jet.h"
 
#include "core/math/rotations.h"
 
namespace wolf::autodiff
{
using std::remainder;
 
template <int N>
inline Jet<double, N> remainder(const Jet<double, N>& _x, long double _y)
{
    Jet<double, N> res = _x;
    res.a              = remainder(_x.a, _y);
    return res;
}
}  // namespace wolf::autodiff