Pose.hh

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/*
 * Copyright 2012 Nate Koenig
 *
 * 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.
 *
*/
/* Desc: External interfaces for Gazebo
 * Author: Nate Koenig
 * Date: 03 Apr 2007
 */

#ifndef _POSE_HH_
#define _POSE_HH_

#include <iostream>

#include "math/Vector3.hh"
#include "math/Quaternion.hh"

namespace gazebo
{
  namespace math
  {

    class Pose
    {
      public: static const Pose Zero;

      public: Pose();

      public: Pose(const Vector3 &_pos, const Quaternion &_rot);

      public: Pose(double _x, double _y, double _z,
                   double _roll, double _pitch, double _yaw);

      public: Pose(const Pose &_pose);

      public: virtual ~Pose();

      public: void Set(const Vector3 &_pos, const Quaternion &_rot);

      public: void Set(double _x, double _y, double _z,
                       double _roll, double _pitch, double _yaw);

      public: bool IsFinite() const;

      public: inline void Correct()
              {
                this->pos.Correct();
                this->rot.Correct();
              }

      public: Pose GetInverse() const;

      public: Pose operator+(const Pose &_pose) const;

      public: const Pose &operator+=(const Pose &_pose);

      public: inline Pose operator-(const Pose &_pose) const
              {
                return Pose(this->CoordPositionSub(_pose),
                            this->CoordRotationSub(_pose.rot));
              }

      public: const Pose &operator-=(const Pose &_pose);

      public: bool operator ==(const Pose &_pose) const;

      public: bool operator!=(const Pose &_pose) const;

      public: Pose operator*(const Pose &_pose);

      public: Vector3 CoordPositionAdd(const Vector3 &_pos) const;

      public: Vector3 CoordPositionAdd(const Pose &_pose) const;

      public: inline Vector3 CoordPositionSub(const Pose &_pose) const
              {
                Quaternion tmp(0.0,
                    this->pos.x - _pose.pos.x,
                    this->pos.y - _pose.pos.y,
                    this->pos.z - _pose.pos.z);

                tmp = _pose.rot.GetInverse() * (tmp * _pose.rot);
                return Vector3(tmp.x, tmp.y, tmp.z);
              }

      public: Quaternion CoordRotationAdd(const Quaternion &_rot) const;

      public: inline Quaternion CoordRotationSub(const Quaternion &_rot) const
              {
                Quaternion result(_rot.GetInverse() * this->rot);
                result.Normalize();
                return result;
              }


      public: Pose CoordPoseSolve(const Pose &_b) const;

      public: void Reset();

      public: Pose RotatePositionAboutOrigin(const Quaternion &_rot) const;

      public: void Round(int _precision);

      public: Vector3 pos;

      public: Quaternion rot;

      public: friend std::ostream &operator<<(std::ostream &_out,
                                              const gazebo::math::Pose &_pose)
              {
                _out << _pose.pos << " " << _pose.rot;
                return _out;
              }

      public: friend std::istream &operator>>(std::istream &_in,
                gazebo::math::Pose &_pose)
            {
              // Skip white spaces
              _in.setf(std::ios_base::skipws);
              _in >> _pose.pos >> _pose.rot;
              return _in;
            }
    };
  }
}
#endif