rtabmap: dual_quaternion.hpp Source File

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00041 #pragma once
00042 
00043 // Dependency:
00044 #include "../glm.hpp"
00045 #include "../gtc/constants.hpp"
00046 #include "../gtc/quaternion.hpp"
00047 
00048 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
00049 #       pragma message("GLM: GLM_GTX_dual_quaternion extension included")
00050 #endif
00051 
00052 namespace glm{
00053 namespace detail
00054 {
00055         template <typename T, precision P>
00056         struct tdualquat
00057         {
00058                 enum ctor{null};
00059                 typedef T value_type;
00060                 typedef glm::detail::tquat<T, P> part_type;
00061                 
00062         public:
00063                 glm::detail::tquat<T, P> real, dual;
00064                 
00065                 GLM_FUNC_DECL GLM_CONSTEXPR length_t length() const;
00066                 
00067                 // Constructors
00068                 GLM_FUNC_DECL tdualquat();
00069                 GLM_FUNC_DECL explicit tdualquat(tquat<T, P> const & real);
00070                 GLM_FUNC_DECL tdualquat(tquat<T, P> const & real,tquat<T, P> const & dual);
00071                 GLM_FUNC_DECL tdualquat(tquat<T, P> const & orientation,tvec3<T, P> const& translation);
00072                 
00074                 // tdualquat conversions
00075                 GLM_FUNC_DECL explicit tdualquat(tmat2x4<T, P> const & holder_mat);
00076                 GLM_FUNC_DECL explicit tdualquat(tmat3x4<T, P> const & aug_mat);
00077                 
00078                 // Accesses
00079                 GLM_FUNC_DECL part_type & operator[](int i);
00080                 GLM_FUNC_DECL part_type const & operator[](int i) const;
00081                 
00082                 // Operators
00083                 GLM_FUNC_DECL tdualquat<T, P> & operator*=(T const & s);
00084                 GLM_FUNC_DECL tdualquat<T, P> & operator/=(T const & s);
00085         };
00086         
00087         template <typename T, precision P>
00088         GLM_FUNC_DECL detail::tquat<T, P> operator- (
00089                 detail::tquat<T, P> const & q);
00090         
00091         template <typename T, precision P>
00092         GLM_FUNC_DECL detail::tdualquat<T, P> operator+ (
00093                 detail::tdualquat<T, P> const & q,
00094                 detail::tdualquat<T, P> const & p);
00095         
00096         template <typename T, precision P>
00097         GLM_FUNC_DECL detail::tdualquat<T, P> operator* (
00098                 detail::tdualquat<T, P> const & q,
00099                 detail::tdualquat<T, P> const & p);
00100         
00101         template <typename T, precision P>
00102         GLM_FUNC_DECL detail::tvec3<T, P> operator* (
00103                 detail::tquat<T, P> const & q,
00104                 detail::tvec3<T, P> const & v);
00105         
00106         template <typename T, precision P>
00107         GLM_FUNC_DECL detail::tvec3<T, P> operator* (
00108                 detail::tvec3<T, P> const & v,
00109                 detail::tquat<T, P> const & q);
00110         
00111         template <typename T, precision P>
00112         GLM_FUNC_DECL detail::tvec4<T, P> operator* (
00113                 detail::tquat<T, P> const & q,
00114                 detail::tvec4<T, P> const & v);
00115         
00116         template <typename T, precision P>
00117         GLM_FUNC_DECL detail::tvec4<T, P> operator* (
00118                 detail::tvec4<T, P> const & v,
00119                 detail::tquat<T, P> const & q);
00120         
00121         template <typename T, precision P>
00122         GLM_FUNC_DECL detail::tdualquat<T, P> operator* (
00123                 detail::tdualquat<T, P> const & q,
00124                 T const & s);
00125         
00126         template <typename T, precision P>
00127         GLM_FUNC_DECL detail::tdualquat<T, P> operator* (
00128                 T const & s,
00129                 detail::tdualquat<T, P> const & q);
00130         
00131         template <typename T, precision P>
00132         GLM_FUNC_DECL detail::tdualquat<T, P> operator/ (
00133                 detail::tdualquat<T, P> const & q,
00134                 T const & s);
00135 } //namespace detail
00136         
00139 
00143         template <typename T, precision P>
00144         GLM_FUNC_DECL detail::tdualquat<T, P> normalize(
00145                 detail::tdualquat<T, P> const & q);
00146 
00150         template <typename T, precision P>
00151         GLM_FUNC_DECL detail::tdualquat<T, P> lerp(
00152                 detail::tdualquat<T, P> const & x,
00153                 detail::tdualquat<T, P> const & y,
00154                 T const & a);
00155 
00159         template <typename T, precision P>
00160         GLM_FUNC_DECL detail::tdualquat<T, P> inverse(
00161                 detail::tdualquat<T, P> const & q);
00162 
00163         /*
00168         template <typename T, precision P>
00169         detail::tmat3x3<T, P> mat3_cast(
00170                 detail::tdualquat<T, P> const & x);
00171         */
00172         
00176         template <typename T, precision P>
00177         GLM_FUNC_DECL detail::tmat2x4<T, P> mat2x4_cast(
00178                 detail::tdualquat<T, P> const & x);
00179 
00183         template <typename T, precision P>
00184         GLM_FUNC_DECL detail::tmat3x4<T, P> mat3x4_cast(
00185                 detail::tdualquat<T, P> const & x);
00186 
00190         template <typename T, precision P>
00191         GLM_FUNC_DECL detail::tdualquat<T, P> dualquat_cast(
00192                 detail::tmat2x4<T, P> const & x);
00193 
00197         template <typename T, precision P>
00198         GLM_FUNC_DECL detail::tdualquat<T, P> dualquat_cast(
00199                 detail::tmat3x4<T, P> const & x);
00200 
00201         
00205         typedef detail::tdualquat<float, lowp>          lowp_dualquat;
00206         
00210         typedef detail::tdualquat<float, mediump>       mediump_dualquat;
00211         
00215         typedef detail::tdualquat<float, highp>         highp_dualquat;
00216 
00217 
00221         typedef detail::tdualquat<float, lowp>          lowp_fdualquat;
00222         
00226         typedef detail::tdualquat<float, mediump>       mediump_fdualquat;
00227         
00231         typedef detail::tdualquat<float, highp>         highp_fdualquat;
00232         
00233         
00237         typedef detail::tdualquat<double, lowp>         lowp_ddualquat;
00238         
00242         typedef detail::tdualquat<double, mediump>      mediump_ddualquat;
00243         
00247         typedef detail::tdualquat<double, highp>        highp_ddualquat;
00248 
00249         
00250 #if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
00251 
00252 
00253 
00254         typedef highp_fdualquat                 dualquat;
00255         
00259         typedef highp_fdualquat                 fdualquat;
00260 #elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
00261         typedef highp_fdualquat                 dualquat;
00262         typedef highp_fdualquat                 fdualquat;
00263 #elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
00264         typedef mediump_fdualquat               dualquat;
00265         typedef mediump_fdualquat               fdualquat;
00266 #elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))
00267         typedef lowp_fdualquat                  dualquat;
00268         typedef lowp_fdualquat                  fdualquat;
00269 #else
00270 #       error "GLM error: multiple default precision requested for single-precision floating-point types"
00271 #endif
00272         
00273 
00274 #if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
00275 
00276 
00277 
00278         typedef highp_ddualquat                 ddualquat;
00279 #elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
00280         typedef highp_ddualquat                 ddualquat;
00281 #elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
00282         typedef mediump_ddualquat               ddualquat;
00283 #elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))
00284         typedef lowp_ddualquat                  ddualquat;
00285 #else
00286 #       error "GLM error: Multiple default precision requested for double-precision floating-point types"
00287 #endif
00288 
00290 } //namespace glm
00291 
00292 #include "dual_quaternion.inl"