termination_criteria.hpp

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// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide
// SPDX-License-Identifier: MIT
#pragma once
 
#include <Eigen/Core>
 
namespace small_gicp {
 
struct TerminationCriteria {
  TerminationCriteria() : translation_eps(1e-3), rotation_eps(0.1 * M_PI / 180.0) {}
 
  bool converged(const Eigen::Matrix<double, 6, 1>& delta) const { return delta.template head<3>().norm() <= rotation_eps && delta.template tail<3>().norm() <= translation_eps; }
 
  double translation_eps;  
  double rotation_eps;     
};
 
}  // namespace small_gicp