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_