Program Listing for File orientation_3d_stamped.hpp
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#ifndef FUSE_VARIABLES__ORIENTATION_3D_STAMPED_HPP_
#define FUSE_VARIABLES__ORIENTATION_3D_STAMPED_HPP_
#include <ceres/rotation.h>
#include <ostream>
#include <fuse_core/ceres_macros.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/local_parameterization.hpp>
#include <fuse_core/manifold.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_core/util.hpp>
#include <fuse_core/uuid.hpp>
#include <fuse_core/variable.hpp>
#include <fuse_variables/fixed_size_variable.hpp>
#include <fuse_variables/stamped.hpp>
#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/export.hpp>
#include <rclcpp/time.hpp>
namespace fuse_variables
{
template<typename T>
inline static void QuaternionInverse(const T in[4], T out[4])
{
out[0] = in[0];
out[1] = -in[1];
out[2] = -in[2];
out[3] = -in[3];
}
class Orientation3DLocalParameterization : public fuse_core::LocalParameterization
{
public:
FUSE_SMART_PTR_DEFINITIONS(Orientation3DLocalParameterization)
int GlobalSize() const override {return 4;}
int LocalSize() const override {return 3;}
bool Plus(
const double * x,
const double * delta,
double * x_plus_delta) const override
{
double q_delta[4];
ceres::AngleAxisToQuaternion(delta, q_delta);
ceres::QuaternionProduct(x, q_delta, x_plus_delta);
return true;
}
bool ComputeJacobian(
const double * x,
double * jacobian) const override
{
double x0 = x[0] / 2;
double x1 = x[1] / 2;
double x2 = x[2] / 2;
double x3 = x[3] / 2;
/* *INDENT-OFF* */
jacobian[0] = -x1; jacobian[1] = -x2; jacobian[2] = -x3; // NOLINT
jacobian[3] = x0; jacobian[4] = -x3; jacobian[5] = x2; // NOLINT
jacobian[6] = x3; jacobian[7] = x0; jacobian[8] = -x1; // NOLINT
jacobian[9] = -x2; jacobian[10] = x1; jacobian[11] = x0; // NOLINT
/* *INDENT-ON* */
return true;
}
bool Minus(
const double * x,
const double * y,
double * y_minus_x) const override
{
double x_inverse[4];
QuaternionInverse(x, x_inverse);
double q_delta[4];
ceres::QuaternionProduct(x_inverse, y, q_delta);
ceres::QuaternionToAngleAxis(q_delta, y_minus_x);
return true;
}
bool ComputeMinusJacobian(
const double * x,
double * jacobian) const override
{
double x0 = x[0] * 2;
double x1 = x[1] * 2;
double x2 = x[2] * 2;
double x3 = x[3] * 2;
/* *INDENT-OFF* */
jacobian[0] = -x1; jacobian[1] = x0; jacobian[2] = x3; jacobian[3] = -x2; // NOLINT
jacobian[4] = -x2; jacobian[5] = -x3; jacobian[6] = x0; jacobian[7] = x1; // NOLINT
jacobian[8] = -x3; jacobian[9] = x2; jacobian[10] = -x1; jacobian[11] = x0; // NOLINT
/* *INDENT-ON* */
return true;
}
private:
// Allow Boost Serialization access to private methods
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & archive, const unsigned int /* version */)
{
archive & boost::serialization::base_object<fuse_core::LocalParameterization>(*this);
}
};
#if CERES_SUPPORTS_MANIFOLDS
class Orientation3DManifold : public fuse_core::Manifold
{
public:
FUSE_SMART_PTR_DEFINITIONS(Orientation3DManifold)
int AmbientSize() const override {return 4;}
int TangentSize() const override {return 3;}
bool Plus(const double * x, const double * delta, double * x_plus_delta) const override
{
double q_delta[4];
ceres::AngleAxisToQuaternion(delta, q_delta);
ceres::QuaternionProduct(x, q_delta, x_plus_delta);
return true;
}
bool PlusJacobian(const double * x, double * jacobian) const override
{
double x0 = x[0] / 2;
double x1 = x[1] / 2;
double x2 = x[2] / 2;
double x3 = x[3] / 2;
/* *INDENT-OFF* */
jacobian[0] = -x1; jacobian[1] = -x2; jacobian[2] = -x3; // NOLINT
jacobian[3] = x0; jacobian[4] = -x3; jacobian[5] = x2; // NOLINT
jacobian[6] = x3; jacobian[7] = x0; jacobian[8] = -x1; // NOLINT
jacobian[9] = -x2; jacobian[10] = x1; jacobian[11] = x0; // NOLINT
/* *INDENT-ON* */
return true;
}
bool Minus(const double * y, const double * x, double * y_minus_x) const override
{
double x_inverse[4];
QuaternionInverse(x, x_inverse);
double q_delta[4];
ceres::QuaternionProduct(x_inverse, y, q_delta);
ceres::QuaternionToAngleAxis(q_delta, y_minus_x);
return true;
}
bool MinusJacobian(const double * x, double * jacobian) const override
{
double x0 = x[0] * 2;
double x1 = x[1] * 2;
double x2 = x[2] * 2;
double x3 = x[3] * 2;
/* *INDENT-OFF* */
jacobian[0] = -x1; jacobian[1] = x0; jacobian[2] = x3; jacobian[3] = -x2; // NOLINT
jacobian[4] = -x2; jacobian[5] = -x3; jacobian[6] = x0; jacobian[7] = x1; // NOLINT
jacobian[8] = -x3; jacobian[9] = x2; jacobian[10] = -x1; jacobian[11] = x0; // NOLINT
/* *INDENT-ON* */
return true;
}
private:
// Allow Boost Serialization access to private methods
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & archive, const unsigned int /* version */)
{
archive & boost::serialization::base_object<fuse_core::Manifold>(*this);
}
};
#endif
class Orientation3DStamped : public FixedSizeVariable<4>, public Stamped
{
public:
FUSE_VARIABLE_DEFINITIONS(Orientation3DStamped)
enum : size_t
{
W = 0,
X = 1,
Y = 2,
Z = 3,
};
enum class Euler : size_t
{
ROLL = 4,
PITCH = 5,
YAW = 6
};
Orientation3DStamped() = default;
explicit Orientation3DStamped(
const rclcpp::Time & stamp,
const fuse_core::UUID & device_id = fuse_core::uuid::NIL);
double & w() {return data_[W];}
const double & w() const {return data_[W];}
double & x() {return data_[X];}
const double & x() const {return data_[X];}
double & y() {return data_[Y];}
const double & y() const {return data_[Y];}
double & z() {return data_[Z];}
const double & z() const {return data_[Z];}
double roll() {return fuse_core::getRoll(w(), x(), y(), z());}
double pitch() {return fuse_core::getPitch(w(), x(), y(), z());}
double yaw() {return fuse_core::getYaw(w(), x(), y(), z());}
void print(std::ostream & stream = std::cout) const override;
size_t localSize() const override {return 3u;}
fuse_core::LocalParameterization * localParameterization() const override;
#if CERES_SUPPORTS_MANIFOLDS
fuse_core::Manifold * manifold() const override;
#endif
private:
// Allow Boost Serialization access to private methods
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & archive, const unsigned int /* version */)
{
archive & boost::serialization::base_object<FixedSizeVariable<SIZE>>(*this);
archive & boost::serialization::base_object<Stamped>(*this);
}
};
} // namespace fuse_variables
#if CERES_SUPPORTS_MANIFOLDS
BOOST_CLASS_EXPORT_KEY(fuse_variables::Orientation3DManifold);
#endif
BOOST_CLASS_EXPORT_KEY(fuse_variables::Orientation3DLocalParameterization);
BOOST_CLASS_EXPORT_KEY(fuse_variables::Orientation3DStamped);
#endif // FUSE_VARIABLES__ORIENTATION_3D_STAMPED_HPP_