Transform.cpp

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/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#include <rtabmap/core/Transform.h>

#include <pcl/common/eigen.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UMath.h>
#include <iomanip>

namespace rtabmap {

Transform::Transform() : data_(12)
{
        data_[0] = 0.0f;
        data_[1] = 0.0f;
        data_[2] = 0.0f;
        data_[3] = 0.0f;
        data_[4] = 0.0f;
        data_[5] = 0.0f;
        data_[6] = 0.0f;
        data_[7] = 0.0f;
        data_[8] = 0.0f;
        data_[9] = 0.0f;
        data_[10] = 0.0f;
        data_[11] = 0.0f;
}

// rotation matrix r## and origin o##
Transform::Transform(float r11, float r12, float r13, float o14,
                                     float r21, float r22, float r23, float o24,
                                     float r31, float r32, float r33, float o34) :
        data_(12)
{
        data_[0] = r11;
        data_[1] = r12;
        data_[2] = r13;
        data_[3] = o14;
        data_[4] = r21;
        data_[5] = r22;
        data_[6] = r23;
        data_[7] = o24;
        data_[8] = r31;
        data_[9] = r32;
        data_[10] = r33;
        data_[11] = o34;
}

Transform::Transform(float x, float y, float z, float roll, float pitch, float yaw)
{
        Eigen::Affine3f t = pcl::getTransformation (x, y, z, roll, pitch, yaw);
        *this = fromEigen3f(t);
}

bool Transform::isNull() const
{
        return (data_[0] == 0.0f &&
                        data_[1] == 0.0f &&
                        data_[2] == 0.0f &&
                        data_[3] == 0.0f &&
                        data_[4] == 0.0f &&
                        data_[5] == 0.0f &&
                        data_[6] == 0.0f &&
                        data_[7] == 0.0f &&
                        data_[8] == 0.0f &&
                        data_[9] == 0.0f &&
                        data_[10] == 0.0f &&
                        data_[11] == 0.0f) ||
                        uIsNan(data_[0]) ||
                        uIsNan(data_[1]) ||
                        uIsNan(data_[2]) ||
                        uIsNan(data_[3]) ||
                        uIsNan(data_[4]) ||
                        uIsNan(data_[5]) ||
                        uIsNan(data_[6]) ||
                        uIsNan(data_[7]) ||
                        uIsNan(data_[8]) ||
                        uIsNan(data_[9]) ||
                        uIsNan(data_[10]) ||
                        uIsNan(data_[11]);
}

bool Transform::isIdentity() const
{
        return data_[0] == 1.0f &&
                        data_[1] == 0.0f &&
                        data_[2] == 0.0f &&
                        data_[3] == 0.0f &&
                        data_[4] == 0.0f &&
                        data_[5] == 1.0f &&
                        data_[6] == 0.0f &&
                        data_[7] == 0.0f &&
                        data_[8] == 0.0f &&
                        data_[9] == 0.0f &&
                        data_[10] == 1.0f &&
                        data_[11] == 0.0f;
}

void Transform::setNull()
{
        *this = Transform();
}

void Transform::setIdentity()
{
        *this = getIdentity();
}

float Transform::theta() const
{
        float roll, pitch, yaw;
        this->getEulerAngles(roll, pitch, yaw);
        return yaw;
}

Transform Transform::inverse() const
{
        return fromEigen4f(toEigen4f().inverse());
}

Transform Transform::rotation() const
{
        return Transform(data_[0], data_[1], data_[2], 0,
                                         data_[4], data_[5], data_[6], 0,
                                         data_[8], data_[9], data_[10], 0);
}

Transform Transform::translation() const
{
        return Transform(1,0,0, data_[3],
                                         0,1,0, data_[7],
                                         0,0,1, data_[11]);
}

void Transform::getTranslationAndEulerAngles(float & x, float & y, float & z, float & roll, float & pitch, float & yaw) const
{
        pcl::getTranslationAndEulerAngles(toEigen3f(), x, y, z, roll, pitch, yaw);
}

void Transform::getEulerAngles(float & roll, float & pitch, float & yaw) const
{
        float x,y,z;
        pcl::getTranslationAndEulerAngles(toEigen3f(), x, y, z, roll, pitch, yaw);
}

void Transform::getTranslation(float & x, float & y, float & z) const
{
        x = this->x();
        y = this->y();
        z = this->z();
}

float Transform::getNorm() const
{
        return uNorm(this->x(), this->y(), this->z());
}

float Transform::getNormSquared() const
{
        return uNormSquared(this->x(), this->y(), this->z());
}

float Transform::getDistance(const Transform & t) const
{
        return uNorm(this->x()-t.x(), this->y()-t.y(), this->z()-t.z());
}

float Transform::getDistanceSquared(const Transform & t) const
{
        return uNormSquared(this->x()-t.x(), this->y()-t.y(), this->z()-t.z());
}

std::string Transform::prettyPrint() const
{
        float x,y,z,roll,pitch,yaw;
        getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
        return uFormat("xyz=%f,%f,%f rpy=%f,%f,%f", x,y,z, roll,pitch,yaw);
}

Transform Transform::operator*(const Transform & t) const
{
        return fromEigen4f(toEigen4f()*t.toEigen4f());
}

Transform & Transform::operator*=(const Transform & t)
{
        *this = *this * t;
        return *this;
}

bool Transform::operator==(const Transform & t) const
{
        return memcmp(data_.data(), t.data_.data(), data_.size() * sizeof(float)) == 0;
}

bool Transform::operator!=(const Transform & t) const
{
        return !(*this == t);
}

std::ostream& operator<<(std::ostream& os, const Transform& s)
{
        for(int i = 0; i < 3; ++i)
        {
                for(int j = 0; j < 4; ++j)
                {
                        std::cout << std::left << std::setw(12) << s.data()[i*4 + j];
                }
                std::cout << std::endl;
        }
        return os;
}

Eigen::Matrix4f Transform::toEigen4f() const
{
        Eigen::Matrix4f m;
        m << data_[0], data_[1], data_[2], data_[3],
                 data_[4], data_[5], data_[6], data_[7],
                 data_[8], data_[9], data_[10], data_[11],
                 0,0,0,1;
        return m;
}
Eigen::Matrix4d Transform::toEigen4d() const
{
        Eigen::Matrix4d m;
        m << data_[0], data_[1], data_[2], data_[3],
                 data_[4], data_[5], data_[6], data_[7],
                 data_[8], data_[9], data_[10], data_[11],
                 0,0,0,1;
        return m;
}

Eigen::Affine3f Transform::toEigen3f() const
{
        return Eigen::Affine3f(toEigen4f());
}

Eigen::Affine3d Transform::toEigen3d() const
{
        return Eigen::Affine3d(toEigen4d());
}

Eigen::Quaternionf Transform::getQuaternionf() const
{
        return Eigen::Quaternionf(this->toEigen3f().rotation()).normalized();
}

Eigen::Quaterniond Transform::getQuaterniond() const
{
        return Eigen::Quaterniond(this->toEigen3d().rotation()).normalized();
}

Transform Transform::getIdentity()
{
        return Transform(1,0,0,0, 0,1,0,0, 0,0,1,0);
}

Transform Transform::fromEigen4f(const Eigen::Matrix4f & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}
Transform Transform::fromEigen4d(const Eigen::Matrix4d & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}

Transform Transform::fromEigen3f(const Eigen::Affine3f & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}
Transform Transform::fromEigen3d(const Eigen::Affine3d & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}

Transform Transform::fromEigen3f(const Eigen::Isometry3f & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}
Transform Transform::fromEigen3d(const Eigen::Isometry3d & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}

}