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#ifndef TF2_2D__TF2_2D_HPP_
#define TF2_2D__TF2_2D_HPP_

#include <Eigen/Core>

#include <tf2/convert.h>
#include <tf2/transform_datatypes.h>
#include <tf2/utils.h>
#include <tf2_ros/buffer_interface.h>

#include <array>
#include <cmath>

#include <geometry_msgs/msg/quaternion.hpp>
#include <geometry_msgs/msg/quaternion_stamped.hpp>
#include <geometry_msgs/msg/point.hpp>
#include <geometry_msgs/msg/point32.hpp>
#include <geometry_msgs/msg/point_stamped.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/pose2_d.hpp>
#include <geometry_msgs/msg/transform.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include <geometry_msgs/msg/vector3_stamped.hpp>
#include <tf2_2d/rotation.hpp>
#include <tf2_2d/transform.hpp>
#include <tf2_2d/vector2.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

#include <boost/array.hpp>

namespace tf2
{

inline void toMsg(const tf2_2d::Vector2 & in, geometry_msgs::msg::Vector3 & msg)
{
  msg.x = in.x();
  msg.y = in.y();
  msg.z = 0;
}

inline void toMsg(const tf2_2d::Vector2 & in, geometry_msgs::msg::Point & msg)
{
  msg.x = in.x();
  msg.y = in.y();
  msg.z = 0;
}

inline void toMsg(const tf2_2d::Vector2 & in, geometry_msgs::msg::Point32 & msg)
{
  msg.x = in.x();
  msg.y = in.y();
  msg.z = 0;
}

// You can only choose one destination message type with this signature
inline geometry_msgs::msg::Vector3 toMsg(const tf2_2d::Vector2 & in)
{
  geometry_msgs::msg::Vector3 msg;
  toMsg(in, msg);
  return msg;
}

inline void fromMsg(const geometry_msgs::msg::Vector3 & msg, tf2_2d::Vector2 & out)
{
  out.setX(msg.x);
  out.setY(msg.y);
}

inline void fromMsg(const geometry_msgs::msg::Point & msg, tf2_2d::Vector2 & out)
{
  out.setX(msg.x);
  out.setY(msg.y);
}

inline void fromMsg(const geometry_msgs::msg::Point32 & msg, tf2_2d::Vector2 & out)
{
  out.setX(msg.x);
  out.setY(msg.y);
}

inline void toMsg(
  const tf2::Stamped<tf2_2d::Vector2> & in,
  geometry_msgs::msg::Vector3Stamped & msg)
{
  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
  msg.header.frame_id = in.frame_id_;
  toMsg(static_cast<const tf2_2d::Vector2 &>(in), msg.vector);
}

inline void toMsg(const tf2::Stamped<tf2_2d::Vector2> & in, geometry_msgs::msg::PointStamped & msg)
{
  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
  msg.header.frame_id = in.frame_id_;
  toMsg(static_cast<const tf2_2d::Vector2 &>(in), msg.point);
}

inline geometry_msgs::msg::Vector3Stamped toMsg(const tf2::Stamped<tf2_2d::Vector2> & in)
{
  geometry_msgs::msg::Vector3Stamped msg;
  toMsg(in, msg);
  return msg;
}

inline void fromMsg(
  const geometry_msgs::msg::Vector3Stamped & msg,
  tf2::Stamped<tf2_2d::Vector2> & out)
{
  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
  out.frame_id_ = msg.header.frame_id;
  fromMsg(msg.vector, static_cast<tf2_2d::Vector2 &>(out));
}

inline void fromMsg(
  const geometry_msgs::msg::PointStamped & msg,
  tf2::Stamped<tf2_2d::Vector2> & out)
{
  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
  out.frame_id_ = msg.header.frame_id;
  fromMsg(msg.point, static_cast<tf2_2d::Vector2 &>(out));
}

inline void toMsg(const tf2_2d::Rotation & in, geometry_msgs::msg::Quaternion & msg)
{
  msg.x = 0;
  msg.y = 0;
  msg.z = std::sin(0.5 * in.angle());
  msg.w = std::cos(0.5 * in.angle());
}

inline geometry_msgs::msg::Quaternion toMsg(const tf2_2d::Rotation & in)
{
  geometry_msgs::msg::Quaternion msg;
  toMsg(in, msg);
  return msg;
}

inline void fromMsg(const geometry_msgs::msg::Quaternion & msg, tf2_2d::Rotation & out)
{
  out.setAngle(tf2::getYaw(msg));
}

inline void toMsg(
  const tf2::Stamped<tf2_2d::Rotation> & in,
  geometry_msgs::msg::QuaternionStamped & msg)
{
  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
  msg.header.frame_id = in.frame_id_;
  toMsg(static_cast<const tf2_2d::Rotation &>(in), msg.quaternion);
}

inline geometry_msgs::msg::QuaternionStamped toMsg(const tf2::Stamped<tf2_2d::Rotation> & in)
{
  geometry_msgs::msg::QuaternionStamped msg;
  toMsg(in, msg);
  return msg;
}

inline void fromMsg(
  const geometry_msgs::msg::QuaternionStamped & msg,
  tf2::Stamped<tf2_2d::Rotation> & out)
{
  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
  out.frame_id_ = msg.header.frame_id;
  fromMsg(msg.quaternion, static_cast<tf2_2d::Rotation &>(out));
}

inline void toMsg(const tf2_2d::Transform & in, geometry_msgs::msg::Transform & msg)
{
  toMsg(in.translation(), msg.translation);
  toMsg(in.rotation(), msg.rotation);
}

inline void toMsg(const tf2_2d::Transform & in, geometry_msgs::msg::Pose & msg)
{
  toMsg(in.translation(), msg.position);
  toMsg(in.rotation(), msg.orientation);
}

inline void toMsg(const tf2_2d::Transform & in, geometry_msgs::msg::Pose2D & msg)
{
  msg.x = in.x();
  msg.y = in.y();
  msg.theta = in.theta();
}

inline geometry_msgs::msg::Transform toMsg(const tf2_2d::Transform & in)
{
  geometry_msgs::msg::Transform msg;
  toMsg(in, msg);
  return msg;
}

inline void fromMsg(const geometry_msgs::msg::Transform & msg, tf2_2d::Transform & out)
{
  tf2_2d::Rotation rotation;
  fromMsg(msg.rotation, rotation);
  out.setRotation(rotation);
  tf2_2d::Vector2 translation;
  fromMsg(msg.translation, translation);
  out.setTranslation(translation);
}

inline void fromMsg(const geometry_msgs::msg::Pose & msg, tf2_2d::Transform & out)
{
  tf2_2d::Rotation rotation;
  fromMsg(msg.orientation, rotation);
  out.setRotation(rotation);
  tf2_2d::Vector2 translation;
  fromMsg(msg.position, translation);
  out.setTranslation(translation);
}

inline void fromMsg(const geometry_msgs::msg::Pose2D & msg, tf2_2d::Transform & out)
{
  out.setAngle(msg.theta);
  out.setX(msg.x);
  out.setY(msg.y);
}

inline void toMsg(
  const tf2::Stamped<tf2_2d::Transform> & in,
  geometry_msgs::msg::TransformStamped & msg)
{
  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
  msg.header.frame_id = in.frame_id_;
  toMsg(static_cast<const tf2_2d::Transform &>(in), msg.transform);
}

inline void toMsg(const tf2::Stamped<tf2_2d::Transform> & in, geometry_msgs::msg::PoseStamped & msg)
{
  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
  msg.header.frame_id = in.frame_id_;
  toMsg(static_cast<const tf2_2d::Transform &>(in), msg.pose);
}

inline geometry_msgs::msg::TransformStamped toMsg(const tf2::Stamped<tf2_2d::Transform> & in)
{
  geometry_msgs::msg::TransformStamped msg;
  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
  msg.header.frame_id = in.frame_id_;
  msg.transform = toMsg(static_cast<const tf2_2d::Transform &>(in));
  return msg;
}

inline void fromMsg(
  const geometry_msgs::msg::TransformStamped & msg,
  tf2::Stamped<tf2_2d::Transform> & out)
{
  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
  out.frame_id_ = msg.header.frame_id;
  fromMsg(msg.transform, static_cast<tf2_2d::Transform &>(out));
}

inline void fromMsg(
  const geometry_msgs::msg::PoseStamped & msg,
  tf2::Stamped<tf2_2d::Transform> & out)
{
  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
  out.frame_id_ = msg.header.frame_id;
  fromMsg(msg.pose, static_cast<tf2_2d::Transform &>(out));
}


inline
Eigen::Matrix3d transformCovariance(
  const Eigen::Matrix3d & cov_in,
  const tf2_2d::Transform & transform)
{
  Eigen::Matrix3d R = transform.rotation().getHomogeneousMatrix();
  return R * cov_in * R.transpose();
}

inline
std::array<double, 9> transformCovariance(
  const std::array<double, 9> & cov_in,
  const tf2_2d::Transform & transform)
{
  Eigen::Matrix3d R = transform.rotation().getHomogeneousMatrix();
  std::array<double, 9> cov_out;
  Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>> cov_out_map(cov_out.data());
  Eigen::Map<const Eigen::Matrix<double, 3, 3, Eigen::RowMajor>> cov_in_map(cov_in.data());
  cov_out_map = R * cov_in_map * R.transpose();
  return cov_out;
}

inline
boost::array<double, 9> transformCovariance(
  const boost::array<double, 9> & cov_in,
  const tf2_2d::Transform & transform)
{
  Eigen::Matrix3d R = transform.rotation().getHomogeneousMatrix();
  boost::array<double, 9> cov_out;
  Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>> cov_out_map(cov_out.data());
  Eigen::Map<const Eigen::Matrix<double, 3, 3, Eigen::RowMajor>> cov_in_map(cov_in.data());
  cov_out_map = R * cov_in_map * R.transpose();
  return cov_out;
}

}  // namespace tf2

#endif  // TF2_2D__TF2_2D_HPP_