TPose3DQuat.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/math/TPoseOrPoint.h>

namespace mrpt::math
{
/** Lightweight 3D pose (three spatial coordinates, plus a quaternion ). Allows
 * coordinate access using [] operator.
 * \sa mrpt::poses::CPose3DQuat
 */
struct TPose3DQuat : public TPoseOrPoint,
                     public internal::ProvideStaticResize<TPose3DQuat>
{
    enum
    {
        static_size = 7
    };
    /** Translation in x,y,z */
    double x{.0}, y{.0}, z{.0};
    /** Unit quaternion part, qr,qx,qy,qz */
    double qr{1.}, qx{.0}, qy{.0}, qz{.0};

    /** Constructor from coordinates. */
    constexpr TPose3DQuat(
        double _x, double _y, double _z, double _qr, double _qx, double _qy,
        double _qz)
        : x(_x), y(_y), z(_z), qr(_qr), qx(_qx), qy(_qy), qz(_qz)
    {
    }
    /** Default fast constructor. Initializes to identity transformation. */
    TPose3DQuat() = default;
    /** Coordinate access using operator[]. Order: x,y,z,qr,qx,qy,qz */
    double& operator[](size_t i)
    {
        switch (i)
        {
            case 0:
                return x;
            case 1:
                return y;
            case 2:
                return z;
            case 3:
                return qr;
            case 4:
                return qx;
            case 5:
                return qy;
            case 6:
                return qz;
            default:
                throw std::out_of_range("index out of range");
        }
    }
    /** Coordinate access using operator[]. Order: x,y,z,qr,qx,qy,qz */
    constexpr double operator[](size_t i) const
    {
        switch (i)
        {
            case 0:
                return x;
            case 1:
                return y;
            case 2:
                return z;
            case 3:
                return qr;
            case 4:
                return qx;
            case 5:
                return qy;
            case 6:
                return qz;
            default:
                throw std::out_of_range("index out of range");
        }
    }
    /** Pose's spatial coordinates (x,y,z) norm. */
    double norm() const;
    /** Gets the pose as a vector of doubles. */
    void asVector(std::vector<double>& v) const
    {
        v.resize(7);
        for (size_t i = 0; i < 7; i++) v[i] = (*this)[i];
    }
    /** Returns a human-readable textual representation of the object as "[x y z
     * qr qx qy qz]"
     * \sa fromString
     */
    void asString(std::string& s) const
    {
        s = mrpt::format("[%f %f %f %f %f %f %f]", x, y, z, qr, qx, qy, qz);
    }
    std::string asString() const
    {
        std::string s;
        asString(s);
        return s;
    }

    /** Set the current object value from a string generated by 'asString' (eg:
     * "[0.02 1.04 -0.8 1.0 0.0 0.0 0.0]" )
     * \sa asString
     * \exception std::exception On invalid format
     */
    void fromString(const std::string& s);

    static TPose3DQuat FromString(const std::string& s)
    {
        TPose3DQuat o;
        o.fromString(s);
        return o;
    }
};

}  // namespace mrpt::math

namespace mrpt::typemeta
{
// Specialization must occur in the same namespace
MRPT_DECLARE_TTYPENAME_NO_NAMESPACE(TPose3DQuat, mrpt::math)
}  // namespace mrpt::typemeta