Program Listing for File transform.h
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#ifndef HPP_FCL_TRANSFORM_H
#define HPP_FCL_TRANSFORM_H
#include <hpp/fcl/data_types.h>
namespace hpp {
namespace fcl {
typedef Eigen::Quaternion<FCL_REAL> Quaternion3f;
static inline std::ostream& operator<<(std::ostream& o, const Quaternion3f& q) {
o << "(" << q.w() << " " << q.x() << " " << q.y() << " " << q.z() << ")";
return o;
}
class HPP_FCL_DLLAPI Transform3f {
Matrix3f R;
Vec3f T;
public:
Transform3f() {
setIdentity(); // set matrix_set true
}
static Transform3f Identity() { return Transform3f(); }
template <typename Matrixx3Like, typename Vector3Like>
Transform3f(const Eigen::MatrixBase<Matrixx3Like>& R_,
const Eigen::MatrixBase<Vector3Like>& T_)
: R(R_), T(T_) {}
template <typename Vector3Like>
Transform3f(const Quaternion3f& q_, const Eigen::MatrixBase<Vector3Like>& T_)
: R(q_.toRotationMatrix()), T(T_) {}
Transform3f(const Matrix3f& R_) : R(R_), T(Vec3f::Zero()) {}
Transform3f(const Quaternion3f& q_) : R(q_), T(Vec3f::Zero()) {}
Transform3f(const Vec3f& T_) : R(Matrix3f::Identity()), T(T_) {}
Transform3f(const Transform3f& tf) : R(tf.R), T(tf.T) {}
Transform3f& operator=(const Transform3f& tf) {
R = tf.R;
T = tf.T;
return *this;
}
inline const Vec3f& getTranslation() const { return T; }
inline const Vec3f& translation() const { return T; }
inline Vec3f& translation() { return T; }
inline const Matrix3f& getRotation() const { return R; }
inline const Matrix3f& rotation() const { return R; }
inline Matrix3f& rotation() { return R; }
inline Quaternion3f getQuatRotation() const { return Quaternion3f(R); }
template <typename Matrix3Like, typename Vector3Like>
inline void setTransform(const Eigen::MatrixBase<Matrix3Like>& R_,
const Eigen::MatrixBase<Vector3Like>& T_) {
R.noalias() = R_;
T.noalias() = T_;
}
inline void setTransform(const Quaternion3f& q_, const Vec3f& T_) {
R = q_.toRotationMatrix();
T = T_;
}
template <typename Derived>
inline void setRotation(const Eigen::MatrixBase<Derived>& R_) {
R.noalias() = R_;
}
template <typename Derived>
inline void setTranslation(const Eigen::MatrixBase<Derived>& T_) {
T.noalias() = T_;
}
inline void setQuatRotation(const Quaternion3f& q_) {
R = q_.toRotationMatrix();
}
template <typename Derived>
inline Vec3f transform(const Eigen::MatrixBase<Derived>& v) const {
return R * v + T;
}
inline Transform3f& inverseInPlace() {
R.transposeInPlace();
T = -R * T;
return *this;
}
inline Transform3f inverse() {
return Transform3f(R.transpose(), -R.transpose() * T);
}
inline Transform3f inverseTimes(const Transform3f& other) const {
return Transform3f(R.transpose() * other.R, R.transpose() * (other.T - T));
}
inline const Transform3f& operator*=(const Transform3f& other) {
T += R * other.T;
R *= other.R;
return *this;
}
inline Transform3f operator*(const Transform3f& other) const {
return Transform3f(R * other.R, R * other.T + T);
}
inline bool isIdentity(
const FCL_REAL& prec =
Eigen::NumTraits<FCL_REAL>::dummy_precision()) const {
return R.isIdentity(prec) && T.isZero(prec);
}
inline void setIdentity() {
R.setIdentity();
T.setZero();
}
bool operator==(const Transform3f& other) const {
return R == other.R && (T == other.getTranslation());
}
bool operator!=(const Transform3f& other) const { return !(*this == other); }
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
template <typename Derived>
inline Quaternion3f fromAxisAngle(const Eigen::MatrixBase<Derived>& axis,
FCL_REAL angle) {
return Quaternion3f(Eigen::AngleAxis<FCL_REAL>(angle, axis));
}
} // namespace fcl
} // namespace hpp
#endif