CQuaternion.h

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   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
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   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
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   +------------------------------------------------------------------------+ */
 
#pragma once
 
#include <mrpt/math/CMatrixTemplateNumeric.h>
#include <mrpt/math/CArrayNumeric.h>
#include <mrpt/core/exceptions.h>
#include <mrpt/core/bits_math.h>  // square()
 
namespace mrpt
{
namespace math
{
// For use with a constructor of CQuaternion
enum TConstructorFlags_Quaternions
{
        UNINITIALIZED_QUATERNION = 0
};
 
/** A quaternion, which can represent a 3D rotation as pair \f$ (r,\mathbf{u})
 *\f$, with a real part "r" and a 3D vector \f$ \mathbf{u} = (x,y,z) \f$, or
 *alternatively, q = r + ix + jy + kz.
 *
 *  The elements of the quaternion can be accessed by either:
 *              - r(), x(), y(), z(), or
 *              - the operator [] with indices running from 0 (=r) to 3 (=z).
 *
 *  Users will usually employ the type `CQuaternionDouble` instead of this
 *template.
 *
 * For more information about quaternions, see:
 *  - http://people.csail.mit.edu/bkph/articles/Quaternions.pdf
 *  - http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
 *
 * \ingroup mrpt_math_grp
 * \sa mrpt::poses::CPose3D
 */
template <class T>
class CQuaternion : public CArrayNumeric<T, 4>
{
        using Base = CArrayNumeric<T, 4>;
 
   public:
        /* @{ Constructors
         */
 
        /**     Can be used with UNINITIALIZED_QUATERNION as argument, does not
         * initialize the 4 elements of the quaternion (use this constructor when
         * speed is critical). */
        inline CQuaternion(TConstructorFlags_Quaternions) {}
        /**     Default constructor: construct a (1, (0,0,0) ) quaternion representing
         * no rotation. */
        inline CQuaternion()
        {
                (*this)[0] = 1;
                (*this)[1] = 0;
                (*this)[2] = 0;
                (*this)[3] = 0;
        }
 
        /**     Construct a quaternion from its parameters 'r', 'x', 'y', 'z', with q =
         * r + ix + jy + kz. */
        inline CQuaternion(const T r, const T x, const T y, const T z)
        {
                (*this)[0] = r;
                (*this)[1] = x;
                (*this)[2] = y;
                (*this)[3] = z;
                ASSERTMSG_(
                        std::abs(normSqr() - 1.0) < 1e-3,
                        mrpt::format(
                                "Initialization data for quaternion is not normalized: %f %f "
                                "%f %f -> sqrNorm=%f",
                                r, x, y, z, normSqr()));
        }
 
        /* @}
         */
 
        /** Return r coordinate of the quaternion */
        inline T r() const { return (*this)[0]; }
        /** Return x coordinate of the quaternion */
        inline T x() const { return (*this)[1]; }
        /** Return y coordinate of the quaternion */
        inline T y() const { return (*this)[2]; }
        /** Return z coordinate of the quaternion */
        inline T z() const { return (*this)[3]; }
        /** Set r coordinate of the quaternion */
        inline void r(const T r) { (*this)[0] = r; }
        /** Set x coordinate of the quaternion */
        inline void x(const T x) { (*this)[1] = x; }
        /** Set y coordinate of the quaternion */
        inline void y(const T y) { (*this)[2] = y; }
        /** Set z coordinate of the quaternion */
        inline void z(const T z) { (*this)[3] = z; }
        /**     Set this quaternion to the rotation described by a 3D (Rodrigues)
         * rotation vector \f$ \mathbf{v} \f$:
         *   If \f$ \mathbf{v}=0 \f$, then the quaternion is \f$ \mathbf{q} = [1 ~
         * 0 ~ 0 ~ 0]^\top \f$, otherwise:
         *    \f[ \mathbf{q} = \left[ \begin{array}{c}
         *       \cos(\frac{\theta}{2}) \\
         *       v_x \frac{\sin(\frac{\theta}{2})}{\theta} \\
         *       v_y \frac{\sin(\frac{\theta}{2})}{\theta} \\
         *       v_z \frac{\sin(\frac{\theta}{2})}{\theta}
         *    \end{array} \right] \f]
         *    where \f$ \theta = |\mathbf{v}| = \sqrt{v_x^2+v_y^2+v_z^2} \f$.
         *  \sa "Representing Attitude: Euler Angles, Unit Quaternions, and
         * Rotation Vectors (2006)", James Diebel.
         */
        template <class ARRAYLIKE3>
        void fromRodriguesVector(const ARRAYLIKE3& v)
        {
                if (v.size() != 3) THROW_EXCEPTION("Vector v must have a length=3");
 
                const T x = v[0];
                const T y = v[1];
                const T z = v[2];
                const T angle = std::sqrt(x * x + y * y + z * z);
                if (angle < 1e-7)
                {
                        (*this)[0] = 1;
                        (*this)[1] = static_cast<T>(0.5) * x;
                        (*this)[2] = static_cast<T>(0.5) * y;
                        (*this)[3] = static_cast<T>(0.5) * z;
                }
                else
                {
                        const T s = (::sin(angle / 2)) / angle;
                        const T c = ::cos(angle / 2);
                        (*this)[0] = c;
                        (*this)[1] = x * s;
                        (*this)[2] = y * s;
                        (*this)[3] = z * s;
                }
        }
 
        /** @name Lie Algebra methods
                @{ */
 
        /** Logarithm of the 3x3 matrix defined by this pose, generating the
         * corresponding vector in the SO(3) Lie Algebra,
         *  which coincides with the so-called "rotation vector" (I don't have
         * space here for the proof ;-).
         *  \param[out] out_ln The target vector, which can be: std::vector<>, or
         * mrpt::math::CVectorDouble or any row or column Eigen::Matrix<>.
         *  \sa exp,  mrpt::poses::SE_traits  */
        template <class ARRAYLIKE3>
        inline void ln(ARRAYLIKE3& out_ln) const
        {
                if (out_ln.size() != 3) out_ln.resize(3);
                this->ln_noresize(out_ln);
        }
        /** overload that returns by value */
        template <class ARRAYLIKE3>
        inline ARRAYLIKE3 ln() const
        {
                ARRAYLIKE3 out_ln;
                this->ln(out_ln);
                return out_ln;
        }
        /** Like ln() but does not try to resize the output vector. */
        template <class ARRAYLIKE3>
        void ln_noresize(ARRAYLIKE3& out_ln) const
        {
                using mrpt::square;
                const T xyz_norm = std::sqrt(square(x()) + square(y()) + square(z()));
                const T K = (xyz_norm < 1e-7) ? 2 : 2 * ::acos(r()) / xyz_norm;
                out_ln[0] = K * x();
                out_ln[1] = K * y();
                out_ln[2] = K * z();
        }
 
        /** Exponential map from the SO(3) Lie Algebra to unit quaternions.
         *  \sa ln,  mrpt::poses::SE_traits  */
        template <class ARRAYLIKE3>
        inline static CQuaternion<T> exp(const ARRAYLIKE3& v)
        {
                CQuaternion<T> q(UNINITIALIZED_QUATERNION);
                q.fromRodriguesVector(v);
                return q;
        }
        /** \overload */
        template <class ARRAYLIKE3>
        inline static void exp(const ARRAYLIKE3& v, CQuaternion<T>& out_quat)
        {
                out_quat.fromRodriguesVector(v);
        }
 
        /** @} */  // end of Lie algebra
 
        /**     Calculate the "cross" product (or "composed rotation") of two
         * quaternion: this = q1 x q2
         *   After the operation, "this" will represent the composed rotations of
         * q1 and q2 (q2 applied "after" q1).
         */
        inline void crossProduct(const CQuaternion& q1, const CQuaternion& q2)
        {
                // First: compute result, then save in this object. In this way we avoid
                // problems when q1 or q2 == *this !!
                const T new_r = q1.r() * q2.r() - q1.x() * q2.x() - q1.y() * q2.y() -
                                                q1.z() * q2.z();
                const T new_x = q1.r() * q2.x() + q2.r() * q1.x() + q1.y() * q2.z() -
                                                q2.y() * q1.z();
                const T new_y = q1.r() * q2.y() + q2.r() * q1.y() + q1.z() * q2.x() -
                                                q2.z() * q1.x();
                const T new_z = q1.r() * q2.z() + q2.r() * q1.z() + q1.x() * q2.y() -
                                                q2.x() * q1.y();
                this->r(new_r);
                this->x(new_x);
                this->y(new_y);
                this->z(new_z);
                this->normalize();
        }
 
        /** Rotate a 3D point (lx,ly,lz) -> (gx,gy,gz) as described by this
         * quaternion
         */
        void rotatePoint(
                const double lx, const double ly, const double lz, double& gx,
                double& gy, double& gz) const
        {
                const double t2 = r() * x();
                const double t3 = r() * y();
                const double t4 = r() * z();
                const double t5 = -x() * x();
                const double t6 = x() * y();
                const double t7 = x() * z();
                const double t8 = -y() * y();
                const double t9 = y() * z();
                const double t10 = -z() * z();
                gx = 2 * ((t8 + t10) * lx + (t6 - t4) * ly + (t3 + t7) * lz) + lx;
                gy = 2 * ((t4 + t6) * lx + (t5 + t10) * ly + (t9 - t2) * lz) + ly;
                gz = 2 * ((t7 - t3) * lx + (t2 + t9) * ly + (t5 + t8) * lz) + lz;
        }
 
        /** Rotate a 3D point (lx,ly,lz) -> (gx,gy,gz) as described by the inverse
         * (conjugate) of this quaternion
         */
        void inverseRotatePoint(
                const double lx, const double ly, const double lz, double& gx,
                double& gy, double& gz) const
        {
                const double t2 = -r() * x();
                const double t3 = -r() * y();
                const double t4 = -r() * z();
                const double t5 = -x() * x();
                const double t6 = x() * y();
                const double t7 = x() * z();
                const double t8 = -y() * y();
                const double t9 = y() * z();
                const double t10 = -z() * z();
                gx = 2 * ((t8 + t10) * lx + (t6 - t4) * ly + (t3 + t7) * lz) + lx;
                gy = 2 * ((t4 + t6) * lx + (t5 + t10) * ly + (t9 - t2) * lz) + ly;
                gz = 2 * ((t7 - t3) * lx + (t2 + t9) * ly + (t5 + t8) * lz) + lz;
        }
 
        /** Return the squared norm of the quaternion */
        inline double normSqr() const
        {
                using mrpt::square;
                return square(r()) + square(x()) + square(y()) + square(z());
        }
 
        /**     Normalize this quaternion, so its norm becomes the unitity.
         */
        inline void normalize()
        {
                const T qq = 1.0 / std::sqrt(normSqr());
                for (unsigned int i = 0; i < 4; i++) (*this)[i] *= qq;
        }
 
        /** Calculate the 4x4 Jacobian of the normalization operation of this
         * quaternion.
         *  The output matrix can be a dynamic or fixed size (4x4) matrix.
         */
        template <class MATRIXLIKE>
        void normalizationJacobian(MATRIXLIKE& J) const
        {
                const T n = 1.0 / std::pow(normSqr(), T(1.5));
                J.setSize(4, 4);
                J.get_unsafe(0, 0) = x() * x() + y() * y() + z() * z();
                J.get_unsafe(0, 1) = -r() * x();
                J.get_unsafe(0, 2) = -r() * y();
                J.get_unsafe(0, 3) = -r() * z();
 
                J.get_unsafe(1, 0) = -x() * r();
                J.get_unsafe(1, 1) = r() * r() + y() * y() + z() * z();
                J.get_unsafe(1, 2) = -x() * y();
                J.get_unsafe(1, 3) = -x() * z();
 
                J.get_unsafe(2, 0) = -y() * r();
                J.get_unsafe(2, 1) = -y() * x();
                J.get_unsafe(2, 2) = r() * r() + x() * x() + z() * z();
                J.get_unsafe(2, 3) = -y() * z();
 
                J.get_unsafe(3, 0) = -z() * r();
                J.get_unsafe(3, 1) = -z() * x();
                J.get_unsafe(3, 2) = -z() * y();
                J.get_unsafe(3, 3) = r() * r() + x() * x() + y() * y();
                J *= n;
        }
 
        /** Compute the Jacobian of the rotation composition operation \f$ p =
         * f(\cdot) = q_{this} \times r \f$, that is the 4x4 matrix \f$
         * \frac{\partial f}{\partial q_{this} }  \f$.
         *  The output matrix can be a dynamic or fixed size (4x4) matrix.
         */
        template <class MATRIXLIKE>
        inline void rotationJacobian(MATRIXLIKE& J) const
        {
                J.setSize(4, 4);
                J.get_unsafe(0, 0) = r();
                J.get_unsafe(0, 1) = -x();
                J.get_unsafe(0, 2) = -y();
                J.get_unsafe(0, 3) = -z();
                J.get_unsafe(1, 0) = x();
                J.get_unsafe(1, 1) = r();
                J.get_unsafe(1, 2) = -z();
                J.get_unsafe(1, 3) = y();
                J.get_unsafe(2, 0) = y();
                J.get_unsafe(2, 1) = z();
                J.get_unsafe(2, 2) = r();
                J.get_unsafe(2, 3) = -x();
                J.get_unsafe(3, 0) = z();
                J.get_unsafe(3, 1) = -y();
                J.get_unsafe(3, 2) = x();
                J.get_unsafe(3, 3) = r();
        }
 
        /** Calculate the 3x3 rotation matrix associated to this quaternion: \f[
         * \mathbf{R} = \left(
         *    \begin{array}{ccc}
         *     q_r^2+q_x^2-q_y^2-q_z^2  &  2(q_x q_y - q_r q_z) &       2(q_z
         * q_x+q_r q_y) \\
         *     2(q_x q_y+q_r q_z)               & q_r^2-q_x^2+q_y^2-q_z^2       & 2(q_y
         * q_z-q_r q_x) \\
         *     2(q_z q_x-q_r q_y) & 2(q_y q_z+q_r q_x)  & q_r^2- q_x^2 - q_y^2 +
         * q_z^2
         *    \end{array}
         *  \right)\f]
         *
         */
        template <class MATRIXLIKE>
        inline void rotationMatrix(MATRIXLIKE& M) const
        {
                M.setSize(3, 3);
                rotationMatrixNoResize(M);
        }
 
        /** Fill out the top-left 3x3 block of the given matrix with the rotation
         * matrix associated to this quaternion (does not resize the matrix, for
         * that, see rotationMatrix). */
        template <class MATRIXLIKE>
        inline void rotationMatrixNoResize(MATRIXLIKE& M) const
        {
                M.get_unsafe(0, 0) = r() * r() + x() * x() - y() * y() - z() * z();
                M.get_unsafe(0, 1) = 2 * (x() * y() - r() * z());
                M.get_unsafe(0, 2) = 2 * (z() * x() + r() * y());
                M.get_unsafe(1, 0) = 2 * (x() * y() + r() * z());
                M.get_unsafe(1, 1) = r() * r() - x() * x() + y() * y() - z() * z();
                M.get_unsafe(1, 2) = 2 * (y() * z() - r() * x());
                M.get_unsafe(2, 0) = 2 * (z() * x() - r() * y());
                M.get_unsafe(2, 1) = 2 * (y() * z() + r() * x());
                M.get_unsafe(2, 2) = r() * r() - x() * x() - y() * y() + z() * z();
        }
 
        /**     Return the conjugate quaternion  */
        inline void conj(CQuaternion& q_out) const
        {
                q_out.r(r());
                q_out.x(-x());
                q_out.y(-y());
                q_out.z(-z());
        }
 
        /**     Return the conjugate quaternion  */
        inline CQuaternion conj() const
        {
                CQuaternion q_aux;
                conj(q_aux);
                return q_aux;
        }
 
        /**     Return the yaw, pitch & roll angles associated to quaternion
         *  \sa For the equations, see The MRPT Book, or see
         * http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/Quaternions.pdf
         *  \sa rpy_and_jacobian
         */
        inline void rpy(T& roll, T& pitch, T& yaw) const
        {
                rpy_and_jacobian(
                        roll, pitch, yaw, static_cast<mrpt::math::CMatrixDouble*>(nullptr));
        }
 
        /**     Return the yaw, pitch & roll angles associated to quaternion, and
         * (optionally) the 3x4 Jacobian of the transformation.
         *  Note that both the angles and the Jacobian have one set of normal
         * equations, plus other special formulas for the degenerated cases of
         * |pitch|=90 degrees.
         *  \sa For the equations, see The MRPT Book, or
         * http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/Quaternions.pdf
         * \sa rpy
         */
        template <class MATRIXLIKE>
        void rpy_and_jacobian(
                T& roll, T& pitch, T& yaw, MATRIXLIKE* out_dr_dq = nullptr,
                bool resize_out_dr_dq_to3x4 = true) const
        {
                using mrpt::square;
                using std::sqrt;
 
                if (out_dr_dq && resize_out_dr_dq_to3x4) out_dr_dq->setSize(3, 4);
                const T discr = r() * y() - x() * z();
                if (fabs(discr) > 0.49999)
                {  // pitch = 90 deg
                        pitch = 0.5 * M_PI;
                        yaw = -2 * atan2(x(), r());
                        roll = 0;
                        if (out_dr_dq)
                        {
                                out_dr_dq->zeros();
                                out_dr_dq->get_unsafe(0, 0) = +2 / x();
                                out_dr_dq->get_unsafe(0, 2) = -2 * r() / (x() * x());
                        }
                }
                else if (discr < -0.49999)
                {  // pitch =-90 deg
                        pitch = -0.5 * M_PI;
                        yaw = 2 * atan2(x(), r());
                        roll = 0;
                        if (out_dr_dq)
                        {
                                out_dr_dq->zeros();
                                out_dr_dq->get_unsafe(0, 0) = -2 / x();
                                out_dr_dq->get_unsafe(0, 2) = +2 * r() / (x() * x());
                        }
                }
                else
                {  // Non-degenerate case:
                        yaw = ::atan2(
                                2 * (r() * z() + x() * y()), 1 - 2 * (y() * y() + z() * z()));
                        pitch = ::asin(2 * discr);
                        roll = ::atan2(
                                2 * (r() * x() + y() * z()), 1 - 2 * (x() * x() + y() * y()));
                        if (out_dr_dq)
                        {
                                // Auxiliary terms:
                                const double val1 = (2 * x() * x() + 2 * y() * y() - 1);
                                const double val12 = square(val1);
                                const double val2 = (2 * r() * x() + 2 * y() * z());
                                const double val22 = square(val2);
                                const double xy2 = 2 * x() * y();
                                const double rz2 = 2 * r() * z();
                                const double ry2 = 2 * r() * y();
                                const double val3 = (2 * y() * y() + 2 * z() * z() - 1);
                                const double val4 =
                                        ((square(rz2 + xy2) / square(val3) + 1) * val3);
                                const double val5 = (4 * (rz2 + xy2)) / square(val3);
                                const double val6 =
                                        1.0 / (square(rz2 + xy2) / square(val3) + 1);
                                const double val7 = 2.0 / sqrt(1 - square(ry2 - 2 * x() * z()));
                                const double val8 = (val22 / val12 + 1);
                                const double val9 = -2.0 / val8;
                                // row 1:
                                out_dr_dq->get_unsafe(0, 0) = -2 * z() / val4;
                                out_dr_dq->get_unsafe(0, 1) = -2 * y() / val4;
                                out_dr_dq->get_unsafe(0, 2) =
                                        -(2 * x() / val3 - y() * val5) * val6;
                                out_dr_dq->get_unsafe(0, 3) =
                                        -(2 * r() / val3 - z() * val5) * val6;
                                // row 2:
                                out_dr_dq->get_unsafe(1, 0) = y() * val7;
                                out_dr_dq->get_unsafe(1, 1) = -z() * val7;
                                out_dr_dq->get_unsafe(1, 2) = r() * val7;
                                out_dr_dq->get_unsafe(1, 3) = -x() * val7;
                                // row 3:
                                out_dr_dq->get_unsafe(2, 0) = val9 * x() / val1;
                                out_dr_dq->get_unsafe(2, 1) =
                                        val9 * (r() / val1 - (2 * x() * val2) / val12);
                                out_dr_dq->get_unsafe(2, 2) =
                                        val9 * (z() / val1 - (2 * y() * val2) / val12);
                                out_dr_dq->get_unsafe(2, 3) = val9 * y() / val1;
                        }
                }
        }
 
        inline CQuaternion operator*(const T& factor)
        {
                CQuaternion q = *this;
                q *= factor;
                return q;
        }
 
};  // end class
 
/** A quaternion of data type "double" */
using CQuaternionDouble = CQuaternion<double>;
/** A quaternion of data type "float" */
using CQuaternionFloat = CQuaternion<float>;
 
}  // namespace math
}  // end namespace mrpt