Pose3.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_MATH_POSE_HH_
#define GZ_MATH_POSE_HH_
 
#include <gz/math/Quaternion.hh>
#include <gz/math/Vector3.hh>
#include <gz/math/config.hh>
 
namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  //
  template<typename T>
  class Pose3
  {
    public: static const Pose3<T> &Zero;
 
    public: Pose3() = default;
 
    public: Pose3(const Vector3<T> &_pos, const Quaternion<T> &_rot)
    : p(_pos), q(_rot)
    {
    }
 
    public: Pose3(T _x, T _y, T _z, T _roll, T _pitch, T _yaw)
    : p(_x, _y, _z), q(_roll, _pitch, _yaw)
    {
    }
 
    public: Pose3(T _x, T _y, T _z, T _qw, T _qx, T _qy, T _qz)
    : p(_x, _y, _z), q(_qw, _qx, _qy, _qz)
    {
    }
 
    public: void Set(const Vector3<T> &_pos, const Quaternion<T> &_rot)
    {
      this->p = _pos;
      this->q = _rot;
    }
 
    public: void Set(const Vector3<T> &_pos, const Vector3<T> &_rpy)
    {
      this->p = _pos;
      this->q.SetFromEuler(_rpy);
    }
 
    public: void Set(T _x, T _y, T _z, T _roll, T _pitch, T _yaw)
    {
      this->p.Set(_x, _y, _z);
      this->q.SetFromEuler(math::Vector3<T>(_roll, _pitch, _yaw));
    }
 
    public: bool IsFinite() const
    {
      return this->p.IsFinite() && this->q.IsFinite();
    }
 
    public: inline void Correct()
    {
      this->p.Correct();
      this->q.Correct();
    }
 
    public: Pose3<T> Inverse() const
    {
      Quaternion<T> inv = this->q.Inverse();
      return Pose3<T>(inv * (this->p*-1), inv);
    }
 
    public: bool operator==(const Pose3<T> &_pose) const
    {
      return this->p == _pose.p && this->q == _pose.q;
    }
 
    public: bool operator!=(const Pose3<T> &_pose) const
    {
      return this->p != _pose.p || this->q != _pose.q;
    }
 
    public: Pose3<T> operator*(const Pose3<T> &_pose) const
    {
      return Pose3<T>(_pose.CoordPositionAdd(*this),  this->q * _pose.q);
    }
 
    public: const Pose3<T> &operator*=(const Pose3<T> &_pose)
    {
      *this = *this * _pose;
      return *this;
    }
 
    public: Vector3<T> CoordPositionAdd(const Vector3<T> &_pos) const
    {
      Quaternion<T> tmp(0.0, _pos.X(), _pos.Y(), _pos.Z());
 
      // result = pose.q + pose.q * this->p * pose.q!
      tmp = this->q * (tmp * this->q.Inverse());
 
      return Vector3<T>(this->p.X() + tmp.X(),
                        this->p.Y() + tmp.Y(),
                        this->p.Z() + tmp.Z());
    }
 
    public: Vector3<T> CoordPositionAdd(const Pose3<T> &_pose) const
    {
      Quaternion<T> tmp(static_cast<T>(0),
          this->p.X(), this->p.Y(), this->p.Z());
 
      // result = _pose.q + _pose.q * this->p * _pose.q!
      tmp = _pose.q * (tmp * _pose.q.Inverse());
 
      return Vector3<T>(_pose.p.X() + tmp.X(),
                        _pose.p.Y() + tmp.Y(),
                        _pose.p.Z() + tmp.Z());
    }
 
    public: inline Vector3<T> CoordPositionSub(const Pose3<T> &_pose) const
    {
      Quaternion<T> tmp(0,
          this->p.X() - _pose.p.X(),
          this->p.Y() - _pose.p.Y(),
          this->p.Z() - _pose.p.Z());
 
      tmp = _pose.q.Inverse() * (tmp * _pose.q);
      return Vector3<T>(tmp.X(), tmp.Y(), tmp.Z());
    }
 
    public: Quaternion<T> CoordRotationAdd(const Quaternion<T> &_rot) const
    {
      return Quaternion<T>(_rot * this->q);
    }
 
    public: inline Quaternion<T> CoordRotationSub(
                const Quaternion<T> &_rot) const
    {
      Quaternion<T> result(_rot.Inverse() * this->q);
      result.Normalize();
      return result;
    }
 
    // \return The inverse pose.
    public: Pose3<T> CoordPoseSolve(const Pose3<T> &_b) const
    {
      Quaternion<T> qt;
      Pose3<T> a;
 
      a.q = this->q.Inverse() * _b.q;
      qt = a.q * Quaternion<T>(0, this->p.X(), this->p.Y(), this->p.Z());
      qt = qt * a.q.Inverse();
      a.p = _b.p - Vector3<T>(qt.X(), qt.Y(), qt.Z());
 
      return a;
    }
 
    public: void Reset()
    {
      // set the position to zero
      this->p.Set();
      this->q = Quaternion<T>::Identity;
    }
 
    public: Pose3<T> RotatePositionAboutOrigin(const Quaternion<T> &_q) const
    {
      Pose3<T> a = *this;
      a.p.X((1.0 - 2.0*_q.Y()*_q.Y() - 2.0*_q.Z()*_q.Z()) * this->p.X()
              +(2.0*(_q.X()*_q.Y()+_q.W()*_q.Z())) * this->p.Y()
              +(2.0*(_q.X()*_q.Z()-_q.W()*_q.Y())) * this->p.Z());
      a.p.Y((2.0*(_q.X()*_q.Y()-_q.W()*_q.Z())) * this->p.X()
              +(1.0 - 2.0*_q.X()*_q.X() - 2.0*_q.Z()*_q.Z()) * this->p.Y()
              +(2.0*(_q.Y()*_q.Z()+_q.W()*_q.X())) * this->p.Z());
      a.p.Z((2.0*(_q.X()*_q.Z()+_q.W()*_q.Y())) * this->p.X()
              +(2.0*(_q.Y()*_q.Z()-_q.W()*_q.X())) * this->p.Y()
              +(1.0 - 2.0*_q.X()*_q.X() - 2.0*_q.Y()*_q.Y()) * this->p.Z());
      return a;
    }
 
    public: void Round(int _precision)
    {
      this->q.Round(_precision);
      this->p.Round(_precision);
    }
 
    public: inline const Vector3<T> &Pos() const
    {
      return this->p;
    }
 
    public: inline Vector3<T> &Pos()
    {
      return this->p;
    }
 
    public: inline const T X() const
    {
      return this->p.X();
    }
 
    public: inline void SetX(T x)
    {
     this->p.X() = x;
    }
 
    public: inline const T Y() const
    {
      return this->p.Y();
    }
 
    public: inline void SetY(T y)
    {
      this->p.Y() = y;
    }
 
    public: inline const T Z() const
    {
      return this->p.Z();
    }
 
    public: inline void SetZ(T z)
    {
      this->p.Z() = z;
    }
 
    public: inline const Quaternion<T> &Rot() const
    {
      return this->q;
    }
 
    public: inline Quaternion<T> &Rot()
    {
      return this->q;
    }
 
    public: inline const T Roll() const
    {
      return this->q.Roll();
    }
 
    public: inline const T Pitch() const
    {
      return this->q.Pitch();
    }
 
    public: inline const T Yaw() const
    {
      return this->q.Yaw();
    }
 
    public: friend std::ostream &operator<<(
                std::ostream &_out, const gz::math::Pose3<T> &_pose)
    {
      _out << _pose.Pos() << " " << _pose.Rot();
      return _out;
    }
 
    public: friend std::istream &operator>>(
                std::istream &_in, gz::math::Pose3<T> &_pose)
    {
      // Skip white spaces
      _in.setf(std::ios_base::skipws);
      Vector3<T> pos;
      Quaternion<T> rot;
      _in >> pos >> rot;
      _pose.Set(pos, rot);
      return _in;
    }
 
    public: bool Equal(const Pose3 &_p, const T &_tol) const
    {
      return this->p.Equal(_p.p, _tol) && this->q.Equal(_p.q, _tol);
    }
 
    private: Vector3<T> p;
 
    private: Quaternion<T> q;
  };
 
  namespace detail {
 
    template<typename T> constexpr Pose3<T> gPose3Zero{};
 
  }  // namespace detail
 
  template<typename T> const Pose3<T> &Pose3<T>::Zero = detail::gPose3Zero<T>;
 
  typedef Pose3<double> Pose3d;
 
  typedef Pose3<float> Pose3f;
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#endif  // GZ_MATH_POSE_HH_