Rename WolfConstants --> Constants

src/local_parametrization_homogeneous.cpp

@@ -31,7 +31,7 @@ bool LocalParametrizationHomogeneous::plus(const Eigen::Map<const Eigen::VectorX
     using namespace Eigen;
 
     double norm_delta = _delta.norm();
-    if (norm_delta > WolfConstants::EPS)
+    if (norm_delta > Constants::EPS)
     {
         // compute rotation axis -- this guarantees unity norm
         Vector3s axis = _delta / norm_delta;

src/local_parametrization_quaternion.cpp

@@ -21,12 +21,12 @@ bool LocalParametrizationQuaternion::plus(const Eigen::Map<const Eigen::VectorXs
     assert(_delta_theta.size() == local_size_ && "Wrong size of input delta_theta.");
     assert(_q_plus_delta_theta.size() == global_size_ && "Wrong size of output quaternion.");
 
-    assert(fabs(1.0 - _q.norm()) < WolfConstants::EPS && "Quaternion not normalized.");
+    assert(fabs(1.0 - _q.norm()) < Constants::EPS && "Quaternion not normalized.");
 
     using namespace Eigen;
 
     double angle = _delta_theta.norm();
-    if (angle > WolfConstants::EPS)
+    if (angle > Constants::EPS)
     {
         // compute rotation axis -- this guarantees unity norm
         Vector3s axis = _delta_theta / angle;

src/wolf.h

@@ -37,7 +37,7 @@ namespace wolf {
 typedef double WolfScalar;        // Use this for double, 64 bit precision
 //typedef long double WolfScalar;   // Use this for long double, 128 bit precision
 
-namespace WolfConstants{
+namespace Constants{
 
 // Wolf standard tolerance
 const double EPS = 1e-8;
@@ -348,7 +348,7 @@ inline WolfScalar pi2pi(const WolfScalar& angle)
 namespace Eigen{
 inline void v2q(const Eigen::VectorXs& _v, Eigen::Quaternions& _q){
     wolf::WolfScalar angle = _v.norm();
-    if (angle < wolf::WolfConstants::EPS)
+    if (angle < wolf::Constants::EPS)
         _q = Eigen::Quaternions::Identity();
     else
     {
@@ -358,7 +358,7 @@ inline void v2q(const Eigen::VectorXs& _v, Eigen::Quaternions& _q){
 
 inline void v2q(const Eigen::VectorXs& _v, Eigen::Map<Eigen::Quaternions>& _q){
     wolf::WolfScalar angle = _v.norm();
-    if (angle < wolf::WolfConstants::EPS)
+    if (angle < wolf::Constants::EPS)
         _q = Eigen::Quaternions::Identity();
     else
     {