state.h

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#ifndef _XPP_STATES_STATE_H_
#define _XPP_STATES_STATE_H_
 
#include <iostream>
#include <Eigen/Dense>
 
#include <xpp_states/cartesian_declarations.h>
 
namespace xpp {
 
class StateLin1d;
class StateLin2d;
class StateLin3d;
class StateAng3d;
class State3d;
class State3dEuler;
 
using Vector2d    = Eigen::Vector2d;
using Vector3d    = Eigen::Vector3d;
using Vector6d    = Eigen::Matrix<double,6,1>;
using VectorXd    = Eigen::VectorXd;
using Quaterniond = Eigen::Quaterniond;
 
enum MotionDerivative { kPos=0, kVel, kAcc, kJerk };
 
class StateLinXd {
public:
  VectorXd p_, v_, a_; 
 
  explicit StateLinXd(int _dim = 0);
 
  explicit StateLinXd(const VectorXd& p, const VectorXd& v, const VectorXd& a);
 
  StateLinXd(const VectorXd& p);
  virtual ~StateLinXd() = default;
 
  const VectorXd GetByIndex(MotionDerivative deriv) const;
 
  VectorXd& GetByIndex(MotionDerivative deriv);
 
  bool operator==(const StateLinXd& other) const;
 
  bool operator!=(const StateLinXd& other) const;
 
  int kNumDim = 0;  
};
 
 
// some state classes of explicit dimensions for type safety as well as
// conversions from the general base class.
class StateLin1d  : public StateLinXd {
public:
  StateLin1d() : StateLinXd(1) {};
  virtual ~StateLin1d() {};
};
 
class StateLin2d  : public StateLinXd {
public:
  StateLin2d() : StateLinXd(2) {};
  virtual ~StateLin2d() {};
};
 
class StateLin3d : public StateLinXd {
public:
  StateLin3d() : StateLinXd(3) {};
  StateLin3d(const StateLinXd&);
  virtual ~StateLin3d() {};
 
  StateLin2d Get2D() const;
};
 
 
class StateAng3d {
public:
  Quaterniond q;  
  Vector3d    w;  
  Vector3d   wd;  
 
  explicit StateAng3d(Quaterniond _q = Quaterniond(1.0, 0.0, 0.0, 0.0),
                      Vector3d   _w  = Vector3d::Zero(),
                      Vector3d   _wd = Vector3d::Zero())
  : q(_q), w(_w), wd(_wd) {}
};
 
 
class State3d {
public:
  StateLin3d lin; 
  StateAng3d ang; 
 
  Vector6d Get6dVel() const;
  Vector6d Get6dAcc() const;
};
 
class State3dEuler {
public:
  StateLin3d lin; 
  StateLin3d ang; 
};
 
 
 
// Conversions between Euler angles and Quaternions
static Vector3d GetEulerZYXAngles(const Quaterniond& q)
{
  Vector3d yaw_pitch_roll = q.normalized().toRotationMatrix().eulerAngles(Z, Y, X);
  return yaw_pitch_roll.reverse();
}
 
static Quaterniond GetQuaternionFromEulerZYX(double yaw, double pitch, double roll)
{
  using namespace Eigen;
  Quaterniond q;
 
  q =   AngleAxisd(yaw,   Vector3d::UnitZ())
      * AngleAxisd(pitch, Vector3d::UnitY())
      * AngleAxisd(roll,  Vector3d::UnitX());
 
  return q;
}
 
 
 
// convenience functions for easy readability
inline std::ostream& operator<<(std::ostream& out, const StateLinXd& pos)
{
  out << "p=" << pos.p_.transpose() << "  "
      << "v=" << pos.v_.transpose() << "  "
      << "a=" << pos.a_.transpose();
  return out;
}
 
inline StateLinXd operator+(const StateLinXd& lhs, const StateLinXd& rhs)
{
  StateLinXd ret(lhs.kNumDim);
  ret.p_ = lhs.p_ + rhs.p_;
  ret.v_ = lhs.v_ + rhs.v_;
  ret.a_ = lhs.a_ + rhs.a_;
  return ret;
}
 
inline StateLinXd operator*(double mult, const StateLinXd& rhs)
{
  StateLinXd ret(rhs.kNumDim);
  ret.p_ = mult * rhs.p_;
  ret.v_ = mult * rhs.v_;
  ret.a_ = mult * rhs.a_;
  return ret;
}
 
inline bool StateLinXd::operator==(const StateLinXd &other) const
{
  bool all_equal = (p_==other.p_
                 && v_==other.v_
                 && a_==other.a_);
  return all_equal;
}
 
inline bool StateLinXd::operator!=(const StateLinXd &other) const
{
  return !(*this == other);
}
 
inline std::ostream& operator<<(std::ostream& out, const StateAng3d& ori)
{
  Vector3d rpy_rad;
  rpy_rad = GetEulerZYXAngles(ori.q);
  out << "rpy=" << rpy_rad.transpose() << "  "
      << "v="   << ori.w.transpose() << "  "
      << "a="   << ori.wd.transpose();
  return out;
}
 
inline std::ostream& operator<<(std::ostream& out, const State3d& pose)
{
  out << "\tPos: " << pose.lin << "\n"
      << "\tOri: " << pose.ang;
  return out;
}
 
} // namespace xpp
 
#endif // _XPP_STATES_STATE_H_