TPose3D.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/core/bits_math.h>
#include <mrpt/core/optional_ref.h>
#include <mrpt/math/CMatrixFixed.h>
#include <mrpt/math/TPoseOrPoint.h>
#include <mrpt/math/wrap2pi.h>

namespace mrpt::math
{
/**
 * Lightweight 3D pose (three spatial coordinates, plus three angular
 * coordinates). Allows coordinate access using [] operator.
 * \sa mrpt::poses::CPose3D
 */
struct TPose3D : public TPoseOrPoint,
                 public internal::ProvideStaticResize<TPose3D>
{
    enum
    {
        static_size = 6
    };
    /** X,Y,Z, coords */
    double x{.0}, y{.0}, z{.0};
    /** Yaw coordinate (rotation angle over Z axis). */
    double yaw{.0};
    /** Pitch coordinate (rotation angle over Y axis). */
    double pitch{.0};
    /** Roll coordinate (rotation angle over X coordinate). */
    double roll{.0};

    /** Returns the identity transformation, T=eye(4) */
    static constexpr TPose3D Identity() { return TPose3D(); }

    /** Implicit constructor from TPoint2D. Zeroes all the unprovided
     * information.
     * \sa TPoint2D
     */
    TPose3D(const TPoint2D& p);
    /**
     * Implicit constructor from TPose2D. Gets the yaw from the 2D pose's phi,
     * zeroing all the unprovided information.
     * \sa TPose2D
     */
    TPose3D(const TPose2D& p);
    /**
     * Implicit constructor from TPoint3D. Zeroes angular information.
     * \sa TPoint3D
     */
    TPose3D(const TPoint3D& p);
    /**
     * Constructor from coordinates.
     */
    constexpr TPose3D(
        double _x, double _y, double _z, double _yaw, double _pitch,
        double _roll)
        : x(_x), y(_y), z(_z), yaw(_yaw), pitch(_pitch), roll(_roll)
    {
    }
    /**
     * Default fast constructor. Initializes to zeros.
     */
    constexpr TPose3D() = default;
    /** Coordinate access using operator[]. Order: x,y,z,yaw,pitch,roll */
    double& operator[](size_t i)
    {
        switch (i)
        {
            case 0:
                return x;
            case 1:
                return y;
            case 2:
                return z;
            case 3:
                return yaw;
            case 4:
                return pitch;
            case 5:
                return roll;
            default:
                throw std::out_of_range("index out of range");
        }
    }
    /** Coordinate access using operator[]. Order: x,y,z,yaw,pitch,roll */
    constexpr double operator[](size_t i) const
    {
        switch (i)
        {
            case 0:
                return x;
            case 1:
                return y;
            case 2:
                return z;
            case 3:
                return yaw;
            case 4:
                return pitch;
            case 5:
                return roll;
            default:
                throw std::out_of_range("index out of range");
        }
    }
    /**
     * Pose's spatial coordinates norm.
     */
    double norm() const { return std::sqrt(square(x) + square(y) + square(z)); }
    /**
     * Gets the pose as a vector of doubles.
     */
    void asVector(std::vector<double>& v) const
    {
        v.resize(6);
        v[0] = x;
        v[1] = y;
        v[2] = z;
        v[3] = yaw;
        v[4] = pitch;
        v[5] = roll;
    }
    /** Returns a human-readable textual representation of the object (eg: "[x y
     * z yaw pitch roll]", angles in degrees.)
     * \sa fromString
     */
    void asString(std::string& s) const;
    std::string asString() const
    {
        std::string s;
        asString(s);
        return s;
    }

    /** Returns the quaternion associated to the rotation of this object (NOTE:
     * XYZ translation is ignored)
     * \f[ \mathbf{q} = \left( \begin{array}{c} \cos (\phi /2) \cos (\theta /2)
     * \cos (\psi /2) +  \sin (\phi /2) \sin (\theta /2) \sin (\psi /2) \\ \sin
     * (\phi /2) \cos (\theta /2) \cos (\psi /2) -  \cos (\phi /2) \sin (\theta
     * /2) \sin (\psi /2) \\ \cos (\phi /2) \sin (\theta /2) \cos (\psi /2) +
     * \sin (\phi /2) \cos (\theta /2) \sin (\psi /2) \\ \cos (\phi /2) \cos
     * (\theta /2) \sin (\psi /2) -  \sin (\phi /2) \sin (\theta /2) \cos (\psi
     * /2) \\ \end{array}\right) \f]
     * With : \f$ \phi = roll \f$,  \f$ \theta = pitch \f$ and \f$ \psi = yaw
     * \f$.
     * \param out_dq_dr  If provided, the 4x3 Jacobian of the transformation
     * will be computed and stored here. It's the Jacobian of the transformation
     * from (yaw pitch roll) to (qr qx qy qz).
     */
    void getAsQuaternion(
        mrpt::math::CQuaternion<double>& q,
        mrpt::optional_ref<mrpt::math::CMatrixFixed<double, 4, 3>> out_dq_dr =
            std::nullopt) const;

    void composePoint(const TPoint3D& l, TPoint3D& g) const;
    TPoint3D composePoint(const TPoint3D& l) const;
    void inverseComposePoint(const TPoint3D& g, TPoint3D& l) const;
    TPoint3D inverseComposePoint(const TPoint3D& g) const;
    void composePose(const TPose3D other, TPose3D& result) const;
    void getRotationMatrix(mrpt::math::CMatrixDouble33& R) const;
    inline mrpt::math::CMatrixDouble33 getRotationMatrix() const
    {
        mrpt::math::CMatrixDouble33 R;
        getRotationMatrix(R);
        return R;
    }
    void getHomogeneousMatrix(mrpt::math::CMatrixDouble44& HG) const;
    inline mrpt::math::CMatrixDouble44 getHomogeneousMatrix() const
    {
        mrpt::math::CMatrixDouble44 H;
        getHomogeneousMatrix(H);
        return H;
    }
    void getInverseHomogeneousMatrix(mrpt::math::CMatrixDouble44& HG) const;
    mrpt::math::CMatrixDouble44 getInverseHomogeneousMatrix() const
    {
        mrpt::math::CMatrixDouble44 H;
        getInverseHomogeneousMatrix(H);
        return H;
    }
    void fromHomogeneousMatrix(const mrpt::math::CMatrixDouble44& HG);
    static void SO3_to_yaw_pitch_roll(
        const mrpt::math::CMatrixDouble33& R, double& yaw, double& pitch,
        double& roll);
    /** Set the current object value from a string generated by 'asString' (eg:
     * "[0.02 1.04 -0.8]" )
     * \sa asString
     * \exception std::exception On invalid format
     */
    void fromString(const std::string& s);

    static TPose3D FromString(const std::string& s)
    {
        TPose3D o;
        o.fromString(s);
        return o;
    }
};

/** Unary $\ominus\$ operator: computes inverse SE(3) element */
TPose3D operator-(const TPose3D& p);
/** Binary $\ominus\$ operator: \$b \ominus a\$ computes the relative SE(3) pose
 * of `b` "as seen from" `a` */
TPose3D operator-(const TPose3D& b, const TPose3D& a);

/** Exact comparison between 3D poses, taking possible cycles into account */
inline bool operator==(const TPose3D& p1, const TPose3D& p2)
{
    return (p1.x == p2.x) && (p1.y == p2.y) && (p1.z == p2.z) &&
           (mrpt::math::wrapTo2Pi(p1.yaw) == mrpt::math::wrapTo2Pi(p2.yaw)) &&
           (mrpt::math::wrapTo2Pi(p1.pitch) ==
            mrpt::math::wrapTo2Pi(p2.pitch)) &&
           (mrpt::math::wrapTo2Pi(p1.roll) ==
            mrpt::math::wrapTo2Pi(p2.roll));  //-V550
}
/** Exact comparison between 3D poses, taking possible cycles into account */
inline bool operator!=(const TPose3D& p1, const TPose3D& p2)
{
    return (p1.x != p2.x) || (p1.y != p2.y) || (p1.z != p2.z) ||
           (mrpt::math::wrapTo2Pi(p1.yaw) != mrpt::math::wrapTo2Pi(p2.yaw)) ||
           (mrpt::math::wrapTo2Pi(p1.pitch) !=
            mrpt::math::wrapTo2Pi(p2.pitch)) ||
           (mrpt::math::wrapTo2Pi(p1.roll) !=
            mrpt::math::wrapTo2Pi(p2.roll));  //-V550
}

}  // namespace mrpt::math

namespace mrpt::typemeta
{
// Specialization must occur in the same namespace
MRPT_DECLARE_TTYPENAME_NO_NAMESPACE(TPose3D, mrpt::math)
}  // namespace mrpt::typemeta