CPoseOrPoint.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/math/math_frwds.h>  // matrices frwd decls
#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/math/homog_matrices.h>
#include <mrpt/math/CArrayNumeric.h>
#include <mrpt/serialization/CSerializable.h>
 
#include <mrpt/poses/CPoseOrPoint_detail.h>
 
namespace mrpt
{
/** \defgroup poses_grp 2D/3D points and poses
 *  \ingroup mrpt_poses_grp */
 
/** \defgroup poses_pdf_grp 2D/3D point and pose PDFs
 *  \ingroup mrpt_poses_grp */
 
/** Classes for 2D/3D geometry representation, both of single values and
 * probability density distributions (PDFs) in many forms.
 * \ingroup poses_grp poses_pdf_grp
 */
namespace poses
{
// For use in some constructors (eg. CPose3D)
enum TConstructorFlags_Poses
{
        UNINITIALIZED_POSE = 0
};
 
/** The base template class for 2D & 3D points and poses.
 *   This class use the Curiously Recurring Template Pattern (CRTP) to define
 *    a set of common methods to all the children classes without the cost
 *    of virtual methods. Since most important methods are inline, they will be
 * expanded
 *    at compile time and optimized for every specific derived case.
 *
 *  For more information and examples, refer
 *    to the <a href="http://www.mrpt.org/2D_3D_Geometry">2D/3D Geometry
 * tutorial</a> online.
 *
 *
 *  <center><h2>Introduction to 2D and 3D representation classes</h2></center>
 *  <hr>
 *  <p>
 *  There are two class of spatial representation classes:
 *  - Point: A point in the common mathematical sense, with no directional
 * information.
 *      - 2D: A 2D point is represented just by its coordinates (x,y).
 *      - 3D: A 3D point is represented by its coordinates (x,y,z).
 *  - Pose: It is a point, plus a direction.
 *      - 2D: A 2D pose is a 2D point plus a single angle, the yaw or &#966;
 * angle:
 * the angle from the positive X angle.
 *      - 3D: A 3D point is a 3D point plus three orientation angles (More
 * details
 * above).
 *  </p>
 *  In the case for a 3D orientation many representation angles can be used
 * (Euler angles,yaw/pitch/roll,...)
 *  but all of them can be handled by a 4x4 matrix called "Homogeneous Matrix".
 * This matrix includes both, the
 *  translation and the orientation for a point or a pose, and it can be
 * obtained using
 *  the method getHomogeneousMatrix() which is defined for any pose or point.
 * Note that when the YPR angles are
 *   used to define a 3D orientation, these three values can not be extracted
 * from the matrix again.<br><br>
 *
 *  <b>Homogeneous matrices:</b> These are 4x4 matrices which can represent any
 * translation or rotation in 2D & 3D.
 *     See the tutorial online for more details.                         *
 *
 *  <b>Operators:</b> There are operators defined for the pose compounding \f$
 * \oplus \f$ and inverse pose
 *   compounding \f$ \ominus \f$ of poses and points. For example, let "a" and
 * "b" be 2D or 3D poses. Then "a+b"
 *   returns the resulting pose of "moving b" from "a"; and "b-a" returns the
 * pose of "b" as it is seen
 *   "from a". They can be mixed points and poses, being 2D or 3D, in these
 * operators, with the following
 *   results: <br>
 *
 * <div align="center" >
 *  <pre>
 *  Does "a+b" return a Pose or a Point?
 * +---------------------------------+
 * |  a \ b   |  Pose     |  Point   |
 * +----------+-----------+----------+
 * | Pose     |  Pose     |  Point   |
 * | Point    |  Pose     |  Point   |
 * +---------------------------------+
 *
 *  Does "a-b" return a Pose or a Point?
 * +---------------------------------+
 * |  a \ b   |  Pose     |  Point   |
 * +----------+-----------+----------+
 * | Pose     |  Pose     |  Pose    |
 * | Point    |  Point    |  Point   |
 * +---------------------------------+
 *
 *  Does "a+b" and "a-b" return a 2D or 3D object?
 * +-------------------------+
 * |  a \ b   |  2D   |  3D  |
 * +----------+--------------+
 * |  2D      |  2D   |  3D  |
 * |  3D      |  3D   |  3D  |
 * +-------------------------+
 *
 *  </pre>
 * </div>
 *
 * \sa CPose,CPoint
 * \ingroup poses_grp
 */
template <class DERIVEDCLASS>
class CPoseOrPoint
        : public mrpt::poses::detail::pose_point_impl<
                  DERIVEDCLASS,
                  mrpt::poses::detail::T3DTypeHelper<DERIVEDCLASS>::is_3D_val>
{
   public:
        const DERIVEDCLASS& derived() const
        {
                return *static_cast<const DERIVEDCLASS*>(this);
        }
        DERIVEDCLASS& derived() { return *static_cast<DERIVEDCLASS*>(this); }
        /** Common members of all points & poses classes.
                @{ */
        // Note: the access to "z" is implemented (only for 3D data types), in
        // detail::pose_point_impl<>
        inline double x() const /*!< Get X coord. */
        {
                return derived().m_coords[0];
        }
        inline double y() const /*!< Get Y coord. */
        {
                return derived().m_coords[1];
        }
 
        inline double& x() /*!< Get ref to X coord. */
        {
                return derived().m_coords[0];
        }
        inline double& y() /*!< Get ref to Y coord. */
        {
                return derived().m_coords[1];
        }
 
        inline void x(const double v) /*!< Set X coord. */
        {
                derived().m_coords[0] = v;
        }
        inline void y(const double v) /*!< Set Y coord. */
        {
                derived().m_coords[1] = v;
        }
 
        inline void x_incr(const double v) /*!< X+=v */
        {
                derived().m_coords[0] += v;
        }
        inline void y_incr(const double v) /*!< Y+=v */
        {
                derived().m_coords[1] += v;
        }
 
        /** Return true for poses or points with a Z component, false otherwise. */
        static inline bool is3DPoseOrPoint()
        {
                return DERIVEDCLASS::is_3D_val != 0;
        }
 
        /** Returns the squared euclidean distance to another pose/point: */
        template <class OTHERCLASS>
        inline double sqrDistanceTo(const CPoseOrPoint<OTHERCLASS>& b) const
        {
                using mrpt::square;
 
                if (b.is3DPoseOrPoint())
                {
                        if (is3DPoseOrPoint())
                                return square(x() - b.x()) + square(y() - b.y()) +
                                           square(
                                                   derived().m_coords[2] -
                                                   static_cast<const OTHERCLASS*>(&b)->m_coords[2]);
                        else
                                return square(x() - b.x()) + square(y() - b.y()) +
                                           square(static_cast<const OTHERCLASS*>(&b)->m_coords[2]);
                }
                else
                {
                        if (is3DPoseOrPoint())
                                return square(x() - b.x()) + square(y() - b.y()) +
                                           square(static_cast<const OTHERCLASS*>(&b)->m_coords[2]);
                        else
                                return square(x() - b.x()) + square(y() - b.y());
                }
        }
 
        /** Returns the Euclidean distance to another pose/point: */
        template <class OTHERCLASS>
        inline double distanceTo(const CPoseOrPoint<OTHERCLASS>& b) const
        {
                return std::sqrt(sqrDistanceTo(b));
        }
 
        /** Returns the squared 2D distance from this pose/point to a 2D point
         * (ignores Z, if it exists). */
        inline double distance2DToSquare(double ax, double ay) const
        {
                using mrpt::square;
                return square(ax - x()) + square(ay - y());
        }
 
        /** Returns the squared 3D distance from this pose/point to a 3D point */
        inline double distance3DToSquare(double ax, double ay, double az) const
        {
                using mrpt::square;
                return square(ax - x()) + square(ay - y()) +
                           square(az - (is3DPoseOrPoint() ? derived().m_coords[2] : 0));
        }
 
        /** Returns the 2D distance from this pose/point to a 2D point (ignores Z,
         * if it exists). */
        inline double distance2DTo(double ax, double ay) const
        {
                return std::sqrt(distance2DToSquare(ax, ay));
        }
 
        /** Returns the 3D distance from this pose/point to a 3D point */
        inline double distance3DTo(double ax, double ay, double az) const
        {
                return std::sqrt(distance3DToSquare(ax, ay, az));
        }
 
        /** Returns the euclidean distance to a 3D point: */
        inline double distanceTo(const mrpt::math::TPoint3D& b) const
        {
                return distance3DTo(b.x, b.y, b.z);
        }
 
        /** Returns the euclidean norm of vector: \f$ ||\mathbf{x}|| =
         * \sqrt{x^2+y^2+z^2} \f$ */
        inline double norm() const
        {
                using mrpt::square;
                return std::sqrt(
                        square(x()) + square(y()) +
                        (!is3DPoseOrPoint() ? 0 : square(derived().m_coords[2])));
        }
 
        /** Return the pose or point as a 1xN vector with all the components (see
         * derived classes for each implementation) */
        inline mrpt::math::CVectorDouble getAsVectorVal() const
        {
                mrpt::math::CVectorDouble v;
                derived().getAsVector(v);
                return v;
        }
 
        /** Returns the corresponding 4x4 homogeneous transformation matrix for the
         * point(translation) or pose (translation+orientation).
         * \sa getInverseHomogeneousMatrix
         */
        template <class MATRIX44>
        inline MATRIX44 getHomogeneousMatrixVal() const
        {
                MATRIX44 m;
                derived().getHomogeneousMatrix(m);
                return m;
        }
 
        /** Returns the corresponding 4x4 inverse homogeneous transformation matrix
         * for this point or pose.
         * \sa getHomogeneousMatrix
         */
        template <class MATRIX44>
        inline void getInverseHomogeneousMatrix(MATRIX44& out_HM) const
        {  // Get current HM & inverse in-place:
                derived().getHomogeneousMatrix(out_HM);
                mrpt::math::homogeneousMatrixInverse(out_HM);
        }
 
        //! \overload
        template <class MATRIX44>
        inline MATRIX44 getInverseHomogeneousMatrixVal() const
        {
                MATRIX44 M;
                getInverseHomogeneousMatrix(M);
                return M;
        }
 
        /** Set all data fields to quiet NaN */
        virtual void setToNaN() = 0;
 
        /** @} */
};  // End of class def.
 
}  // namespace poses
}  // namespace mrpt