Transform.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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    * Redistributions in binary form must reproduce the above copyright
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      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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#ifndef TRANSFORM_H_
#define TRANSFORM_H_

#include <rtabmap/core/RtabmapExp.h>
#include <vector>
#include <string>
#include <map>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <opencv2/core/core.hpp>

namespace rtabmap {

class RTABMAP_EXP Transform
{
public:

        // Zero by default
        Transform();
        // rotation matrix r## and origin o##
        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);
        // should have 3 rows, 4 cols and type CV_32FC1
        Transform(const cv::Mat & transformationMatrix);
        // x,y,z, roll,pitch,yaw
        Transform(float x, float y, float z, float roll, float pitch, float yaw);
        // x,y,z, qx,qy,qz,qw
        Transform(float x, float y, float z, float qx, float qy, float qz, float qw);
        // x,y, theta
        Transform(float x, float y, float theta);

        Transform clone() const;

        float r11() const {return data()[0];}
        float r12() const {return data()[1];}
        float r13() const {return data()[2];}
        float r21() const {return data()[4];}
        float r22() const {return data()[5];}
        float r23() const {return data()[6];}
        float r31() const {return data()[8];}
        float r32() const {return data()[9];}
        float r33() const {return data()[10];}

        float o14() const {return data()[3];}
        float o24() const {return data()[7];}
        float o34() const {return data()[11];}

        float & operator[](int index) {return data()[index];}
        const float & operator[](int index) const {return data()[index];}
        float & operator()(int row, int col) {return data()[row*4 + col];}
        const float & operator()(int row, int col) const {return data()[row*4 + col];}

        bool isNull() const;
        bool isIdentity() const;

        void setNull();
        void setIdentity();

        const cv::Mat & dataMatrix() const {return data_;}
        const float * data() const {return (const float *)data_.data;}
        float * data() {return (float *)data_.data;}
        int size() const {return 12;}

        float & x() {return data()[3];}
        float & y() {return data()[7];}
        float & z() {return data()[11];}
        const float & x() const {return data()[3];}
        const float & y() const {return data()[7];}
        const float & z() const {return data()[11];}

        float theta() const;

        bool isInvertible() const;
        Transform inverse() const;
        Transform rotation() const;
        Transform translation() const;
        Transform to3DoF() const;
        Transform to4DoF() const;
        bool is3DoF() const;
        bool is4DoF() const;

        cv::Mat rotationMatrix() const;
        cv::Mat translationMatrix() const;

        void getTranslationAndEulerAngles(float & x, float & y, float & z, float & roll, float & pitch, float & yaw) const;
        void getEulerAngles(float & roll, float & pitch, float & yaw) const;
        void getTranslation(float & x, float & y, float & z) const;
        float getAngle(float x=1.0f, float y=0.0f, float z=0.0f) const;
        float getNorm() const;
        float getNormSquared() const;
        float getDistance(const Transform & t) const;
        float getDistanceSquared(const Transform & t) const;
        Transform interpolate(float t, const Transform & other) const;
        void normalizeRotation();
        std::string prettyPrint() const;

        Transform operator*(const Transform & t) const;
        Transform & operator*=(const Transform & t);
        bool operator==(const Transform & t) const;
        bool operator!=(const Transform & t) const;

        Eigen::Matrix4f toEigen4f() const;
        Eigen::Matrix4d toEigen4d() const;
        Eigen::Affine3f toEigen3f() const;
        Eigen::Affine3d toEigen3d() const;

        Eigen::Quaternionf getQuaternionf() const;
        Eigen::Quaterniond getQuaterniond() const;

public:
        static Transform getIdentity();
        static Transform fromEigen4f(const Eigen::Matrix4f & matrix);
        static Transform fromEigen4d(const Eigen::Matrix4d & matrix);
        static Transform fromEigen3f(const Eigen::Affine3f & matrix);
        static Transform fromEigen3d(const Eigen::Affine3d & matrix);
        static Transform fromEigen3f(const Eigen::Isometry3f & matrix);
        static Transform fromEigen3d(const Eigen::Isometry3d & matrix);
        static Transform fromEigen3f(const Eigen::Matrix<float, 3, 4> & matrix);
        static Transform fromEigen3d(const Eigen::Matrix<double, 3, 4> & matrix);

        static Transform opengl_T_rtabmap() {return Transform(
                         0.0f, -1.0f, 0.0f, 0.0f,
                         0.0f,  0.0f, 1.0f, 0.0f,
                        -1.0f,  0.0f, 0.0f, 0.0f);}
        static Transform rtabmap_T_opengl() {return Transform(
                         0.0f,  0.0f,-1.0f, 0.0f,
                        -1.0f,  0.0f, 0.0f, 0.0f,
                         0.0f,  1.0f, 0.0f, 0.0f);}

        static Transform fromString(const std::string & string);
        static bool canParseString(const std::string & string);

        static Transform getTransform(
                                const std::map<double, Transform> & tfBuffer,
                                const double & stamp);
        RTABMAP_DEPRECATED(static Transform getClosestTransform(
                                const std::map<double, Transform> & tfBuffer,
                                const double & stamp,
                                double * stampDiff), "Use Transform::getTransform() instead to get always accurate transforms.");

private:
        cv::Mat data_;
};

RTABMAP_EXP std::ostream& operator<<(std::ostream& os, const Transform& s);

class TransformStamped
{
public:
        TransformStamped(const Transform & transform, const double & stamp) :
                transform_(transform),
                stamp_(stamp)
        {}
        const Transform & transform() const {return transform_;}
        const double & stamp() const {return stamp_;}

private:
        Transform transform_;
        double stamp_;
};

}

#endif /* TRANSFORM_H_ */