convert.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef RVIZ_RENDER_CONVERT_H
#define RVIZ_RENDER_CONVERT_H

#include <OGRE/OgreVector3.h>
#include <OGRE/OgreQuaternion.h>
#include <OGRE/OgreMatrix3.h>
#include <OGRE/OgreMatrix4.h>

#include <rve_msgs/Matrix4.h>
#include <rve_msgs/Vector3.h>
#include <rve_msgs/Quaternion.h>

namespace rve_render_server
{

extern Ogre::Matrix3 g_ogre_to_robot_matrix;
extern Ogre::Matrix3 g_robot_to_ogre_matrix;
extern Ogre::Matrix3 g_robot_to_ogre_normal_matrix;

extern Ogre::Quaternion g_ogre_to_robot_quat;
extern Ogre::Quaternion g_robot_to_ogre_quat;

inline Ogre::Vector3 convert(const rve_msgs::Vector3& v)
{
  return Ogre::Vector3(v.x, v.y, v.z);
}

inline Ogre::Quaternion convert(const rve_msgs::Quaternion& q)
{
  return Ogre::Quaternion(q.w, q.x, q.y, q.z);
}

inline Ogre::Matrix4 convert(const rve_msgs::Matrix4& m)
{
  return Ogre::Matrix4(m.m[0],m.m[1],m.m[2],m.m[3],
                       m.m[4],m.m[5],m.m[6],m.m[7],
                       m.m[8],m.m[9],m.m[10],m.m[11],
                       m.m[12],m.m[13],m.m[14],m.m[15]);
}

inline Ogre::Vector3 fromRobot( const rve_msgs::Vector3& point )
{
  return g_robot_to_ogre_matrix * convert(point);
}

inline Ogre::Vector3 fromRobot( const Ogre::Vector3& point )
{
  return g_robot_to_ogre_matrix * point;
}

inline Ogre::Vector3 normalFromRobot(const Ogre::Vector3& normal)
{
  return g_robot_to_ogre_normal_matrix * normal;
}

inline Ogre::Vector3 scaleFromRobot( const Ogre::Vector3& scale )
{
  return Ogre::Vector3(fabsf(-scale.y), fabsf(scale.z), fabsf(-scale.x));
}

inline Ogre::Vector3 scaleFromRobot( const rve_msgs::Vector3& scale )
{
  return scaleFromRobot(convert(scale));
}

inline Ogre::Quaternion fromRobot( const rve_msgs::Quaternion& quat )
{
  return g_robot_to_ogre_quat * convert(quat);
}

inline Ogre::Quaternion fromRobot(const Ogre::Quaternion& quat)
{
  return g_robot_to_ogre_quat * quat;
}

inline Ogre::Quaternion fromRobotRelative(const rve_msgs::Quaternion& quat)
{
  return Ogre::Quaternion(quat.w, -quat.y, quat.z, -quat.x);
}

inline Ogre::Quaternion fromRobotRelative(const Ogre::Quaternion& quat)
{
  return Ogre::Quaternion(quat.w, -quat.y, quat.z, -quat.x);
}

} // namespace rve_render_server
#endif