Pose3.hh

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/*
 * Copyright (C) 2012-2014 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 _IGNITION_POSE_HH_
#define _IGNITION_POSE_HH_

#include <ignition/math/Quaternion.hh>
#include <ignition/math/Vector3.hh>

namespace ignition
{
  namespace math
  {
    template<typename T>
    class Pose3
    {
      public: static const Pose3<T> Zero;

      public: Pose3() : p(0, 0, 0), q(1, 0, 0, 0)
      {
      }

      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: Pose3(const Pose3<T> &_pose)
      : p(_pose.p), q(_pose.q)
      {
      }

      public: virtual ~Pose3()
      {
      }

      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.Euler(_rpy);
      }

      public: void Set(T _x, T _y, T _z, T _roll, T _pitch, T _yaw)
      {
        this->p.Set(_x, _y, _z);
        this->q.Euler(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: Pose3<T> operator+(const Pose3<T> &_pose) const
      {
        Pose3<T> result;

        result.p = this->CoordPositionAdd(_pose);
        result.q = this->CoordRotationAdd(_pose.q);

        return result;
      }

      public: const Pose3<T> &operator+=(const Pose3<T> &_pose)
      {
        this->p = this->CoordPositionAdd(_pose);
        this->q = this->CoordRotationAdd(_pose.q);

        return *this;
      }

      public: inline Pose3<T> operator-() const
      {
        return Pose3<T>() - *this;
      }

      public: inline Pose3<T> operator-(const Pose3<T> &_pose) const
      {
        return Pose3<T>(this->CoordPositionSub(_pose),
          this->CoordRotationSub(_pose.q));
      }

      public: const Pose3<T> &operator-=(const Pose3<T> &_pose)
      {
        this->p = this->CoordPositionSub(_pose);
        this->q = this->CoordRotationSub(_pose.q);

        return *this;
      }

      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)
      {
        return Pose3<T>(this->CoordPositionAdd(_pose),  _pose.q * this->q);
      }

      public: Pose3<T> &operator=(const Pose3<T> &_pose)
      {
        this->p = _pose.p;
        this->q = _pose.q;
        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;
      }

      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 = Quaterniond::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 Quaternion<T> &Rot() const
      {
        return this->q;
      }

      public: inline Quaternion<T> &Rot()
      {
        return this->q;
      }

      public: friend std::ostream &operator<<(
                  std::ostream &_out, const ignition::math::Pose3<T> &_pose)
      {
        _out << _pose.Pos() << " " << _pose.Rot();
        return _out;
      }

      public: friend std::istream &operator>>(
                  std::istream &_in, ignition::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;
      }

      private: Vector3<T> p;

      private: Quaternion<T> q;
    };
    template<typename T> const Pose3<T> Pose3<T>::Zero(0, 0, 0, 0, 0, 0);

    typedef Pose3<int> Pose3i;
    typedef Pose3<double> Pose3d;
    typedef Pose3<float> Pose3f;
  }
}
#endif