pose_se2.h

Go to the documentation of this file.

/*********************************************************************
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2016,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * 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.
 *   * Neither the name of the institute nor the names of its
 *     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" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * Author: Christoph Rösmann
 *********************************************************************/

#ifndef POSE_SE2_H_
#define POSE_SE2_H_

#include <g2o/stuff/misc.h>

#include <Eigen/Core>
#include <teb_local_planner/misc.h>
#include <geometry_msgs/Pose.h>
#include <tf/transform_datatypes.h>

namespace teb_local_planner
{

class PoseSE2
{
public:
    


  PoseSE2()
  {
    setZero();
  }
      
  PoseSE2(const Eigen::Ref<const Eigen::Vector2d>& position, double theta)
  {
      _position = position;
      _theta = theta;
  }
  
  PoseSE2(double x, double y, double theta)
  {
      _position.coeffRef(0) = x;
      _position.coeffRef(1) = y;
      _theta = theta;
  }
  
  PoseSE2(const geometry_msgs::Pose& pose)
  {
      _position.coeffRef(0) = pose.position.x;
      _position.coeffRef(1) = pose.position.y;
      _theta = tf::getYaw( pose.orientation );
  }
  
  PoseSE2(const tf::Pose& pose)
  {
      _position.coeffRef(0) = pose.getOrigin().getX();
      _position.coeffRef(1) = pose.getOrigin().getY();
      _theta = tf::getYaw( pose.getRotation() );
  }
  
  PoseSE2(const PoseSE2& pose)
  {
      _position = pose._position;
      _theta = pose._theta;
  }
        
        
        
  ~PoseSE2() {}                
  
  

  
  Eigen::Vector2d& position() {return _position;}

  const Eigen::Vector2d& position() const {return _position;}
  
  double& x() {return _position.coeffRef(0);}
  
  const double& x() const {return _position.coeffRef(0);}
  
  double& y() {return _position.coeffRef(1);}
  
  const double& y() const {return _position.coeffRef(1);}
  
  double& theta() {return _theta;}
  
  const double& theta() const {return _theta;}
  
  void setZero()
  {
    _position.setZero();
    _theta = 0;
  }
  
  void toPoseMsg(geometry_msgs::Pose& pose) const
  {
    pose.position.x = _position.x();
    pose.position.y = _position.y();
    pose.position.z = 0;
    pose.orientation = tf::createQuaternionMsgFromYaw(_theta);
  }
  
  Eigen::Vector2d orientationUnitVec() const {return Eigen::Vector2d(std::cos(_theta), std::sin(_theta));}
      

      

  
  void scale(double factor)
  {
    _position *= factor;
    _theta = g2o::normalize_theta( _theta*factor );
  }
          
  void plus(const double* pose_as_array)
  {
    _position.coeffRef(0) += pose_as_array[0];
    _position.coeffRef(1) += pose_as_array[1];
    _theta = g2o::normalize_theta( _theta + pose_as_array[2] );
  }
  
  void averageInPlace(const PoseSE2& pose1, const PoseSE2& pose2)
  {
    _position = (pose1._position + pose2._position)/2;
    _theta = g2o::average_angle(pose1._theta, pose2._theta);
  }
  
  static PoseSE2 average(const PoseSE2& pose1, const PoseSE2& pose2)
  {
    return PoseSE2( (pose1._position + pose2._position)/2 , g2o::average_angle(pose1._theta, pose2._theta) );
  }
  
  
  

  
  PoseSE2& operator=( const PoseSE2& rhs ) 
  {
    if (&rhs != this)
    {
        _position = rhs._position;
        _theta = rhs._theta;
    }
    return *this;
  }

  PoseSE2& operator+=(const PoseSE2& rhs)
  {
    _position += rhs._position;
    _theta = g2o::normalize_theta(_theta + rhs._theta);
    return *this;
  }
  
  friend PoseSE2 operator+(PoseSE2 lhs, const PoseSE2& rhs) 
  {
    return lhs += rhs;
  }
  
  PoseSE2& operator-=(const PoseSE2& rhs)
  {
    _position -= rhs._position;
    _theta = g2o::normalize_theta(_theta - rhs._theta);
    return *this;
  }
  
  friend PoseSE2 operator-(PoseSE2 lhs, const PoseSE2& rhs) 
  {
    return lhs -= rhs;
  }
  
  friend PoseSE2 operator*(PoseSE2 pose, double scalar) 
  {
    pose._position *= scalar;
    pose._theta *= scalar;
    return pose;
  }
  
  friend PoseSE2 operator*(double scalar, PoseSE2 pose) 
  {
    pose._position *= scalar;
    pose._theta *= scalar;
    return pose;
  }
  
        friend std::ostream& operator<< (std::ostream& stream, const PoseSE2& pose)
        {
                stream << "x: " << pose._position[0] << " y: " << pose._position[1] << " theta: " << pose._theta;
    return stream;
        }
  
      
      
private:
  
  Eigen::Vector2d _position; 
  double _theta;
      
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW  
};


} // namespace teb_local_planner

#endif // POSE_SE2_H_