Program Listing for File frame_utils.cpp

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/*!*******************************************************************************************
 *  \file       frame_utils.cpp
 *  \brief      Aerostack2 frame utils functions implementation file.
 *  \authors    Rafael Pérez Seguí
 *              Pedro Arias Pérez
 ********************************************************************************/

#include "as2_core/utils/frame_utils.hpp"

namespace as2
{
namespace frame
{

Eigen::Vector3d transform(const tf2::Quaternion & quaternion, const Eigen::Vector3d & vector)
{
  tf2::Matrix3x3 rot(quaternion);
  Eigen::Matrix3d rot_eigen;
  rot_eigen << rot[0][0], rot[0][1], rot[0][2], rot[1][0], rot[1][1], rot[1][2], rot[2][0],
    rot[2][1], rot[2][2];

  return rot_eigen * vector;
}

Eigen::Vector3d transform(
  const float roll_angle, const float pitch_angle, const float yaw_angle,
  const Eigen::Vector3d & vector)
{
  tf2::Quaternion q;
  q.setRPY(roll_angle, pitch_angle, yaw_angle);
  return transform(q, vector);
}

Eigen::Vector3d transform(
  const geometry_msgs::msg::Quaternion & quaternion, const Eigen::Vector3d & vector)
{
  tf2::Quaternion q(quaternion.x, quaternion.y, quaternion.z, quaternion.w);
  return transform(q, vector);
}

Eigen::Vector3d transform(const Eigen::Quaterniond & quaternion, const Eigen::Vector3d & vector)
{
  tf2::Quaternion q(quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w());
  return transform(q, vector);
}

Eigen::Vector3d transformInverse(const tf2::Quaternion & quaternion, const Eigen::Vector3d & vector)
{
  return transform(quaternion.inverse(), vector);
}

Eigen::Vector3d transformInverse(
  const float roll_angle, const float pitch_angle, const float yaw_angle,
  const Eigen::Vector3d & vector)
{
  tf2::Quaternion q;
  q.setRPY(roll_angle, pitch_angle, yaw_angle);
  return transformInverse(q, vector);
}

Eigen::Vector3d transformInverse(
  const geometry_msgs::msg::Quaternion & quaternion, const Eigen::Vector3d & vector)
{
  tf2::Quaternion q(quaternion.x, quaternion.y, quaternion.z, quaternion.w);
  return transformInverse(q, vector);
}

Eigen::Vector3d transformInverse(
  const Eigen::Quaterniond & quaternion, const Eigen::Vector3d & vector)
{
  tf2::Quaternion q(quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w());
  return transformInverse(q, vector);
}

void quaternionToEuler(
  const tf2::Quaternion & quaternion, double & roll, double & pitch, double & yaw)
{
  tf2::Matrix3x3 rotation_matrix(quaternion);
  rotation_matrix.getRPY(roll, pitch, yaw);
  return;
}

void quaternionToEuler(
  const geometry_msgs::msg::Quaternion & quaternion, double & roll, double & pitch, double & yaw)
{
  tf2::Quaternion tf_quaternion;
  tf2::fromMsg(quaternion, tf_quaternion);
  quaternionToEuler(tf_quaternion, roll, pitch, yaw);
  return;
}

void quaternionToEuler(
  const Eigen::Quaterniond & quaternion, double & roll, double & pitch, double & yaw)
{
  tf2::Quaternion tf_quaternion(quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w());
  quaternionToEuler(tf_quaternion, roll, pitch, yaw);
  return;
}

void eulerToQuaternion(
  const double roll, const double pitch, const double yaw, tf2::Quaternion & quaternion)
{
  tf2::Matrix3x3 rotation_matrix;
  rotation_matrix.setRPY(roll, pitch, yaw);
  rotation_matrix.getRotation(quaternion);
  return;
}

void eulerToQuaternion(
  const double roll, const double pitch, const double yaw,
  geometry_msgs::msg::Quaternion & quaternion)
{
  tf2::Quaternion tf_quaternion;
  eulerToQuaternion(roll, pitch, yaw, tf_quaternion);
  tf2::convert(tf_quaternion, quaternion);
  return;
}

void eulerToQuaternion(
  const double roll, const double pitch, const double yaw, Eigen::Quaterniond & quaternion)
{
  tf2::Quaternion tf_quaternion;
  eulerToQuaternion(roll, pitch, yaw, tf_quaternion);
  quaternion =
    Eigen::Quaterniond(tf_quaternion.w(), tf_quaternion.x(), tf_quaternion.y(), tf_quaternion.z());
  return;
}

double getYawFromQuaternion(const tf2::Quaternion & quaternion)
{
  double roll, pitch, yaw;
  quaternionToEuler(quaternion, roll, pitch, yaw);
  return yaw;
}

double getYawFromQuaternion(const geometry_msgs::msg::Quaternion & quaternion)
{
  double roll, pitch, yaw;
  quaternionToEuler(quaternion, roll, pitch, yaw);
  return yaw;
}

double getYawFromQuaternion(const Eigen::Quaterniond & quaternion)
{
  double roll, pitch, yaw;
  quaternionToEuler(quaternion, roll, pitch, yaw);
  return yaw;
}

double getVector2DAngle(const double x, const double y) {return atan2f(y, x);}

double wrapAngle0To2Pi(const double theta)
{
  double theta_wrapped = fmod(theta, 2.0 * M_PI);
  if (theta_wrapped < 0.0) {
    theta_wrapped += 2.0 * M_PI;
  }
  return theta_wrapped;
}

double wrapAnglePiToPi(const double theta)
{
  double theta_wrapped = wrapAngle0To2Pi(theta);
  if (theta_wrapped >= M_PI) {
    theta_wrapped -= 2.0 * M_PI;
  }
  return theta_wrapped;
}

double angleMinError(const double theta1, const double theta2)
{
  double theta1_wrapped = wrapAngle0To2Pi(theta1);
  double theta2_wrapped = wrapAngle0To2Pi(theta2);
  double error = theta1_wrapped - theta2_wrapped;
  if (error > M_PI) {
    error -= 2.0 * M_PI;
  } else if (error < -M_PI) {
    error += 2.0 * M_PI;
  }
  return error;
}

}  // namespace frame

}  // namespace as2