Program Listing for File check_isometry.h

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// Copyright 2020 Martin Pecka
//
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// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
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//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the Martin Pecka nor the 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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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/* Author: Martin Pecka, Robert Haschke */

#ifndef GEOMETRIC_SHAPES_CHECK_ISOMETRY_H
#define GEOMETRIC_SHAPES_CHECK_ISOMETRY_H

#include <algorithm>
#include <assert.h>
#include <iostream>
#include <math.h>
#include <Eigen/Core>
#include <Eigen/Geometry>

#ifndef CHECK_ISOMETRY_PRECISION
#define CHECK_ISOMETRY_PRECISION Eigen::NumTraits<double>::dummy_precision()
#endif

inline bool checkIsometry(const Eigen::Isometry3d& transform, const double precision = CHECK_ISOMETRY_PRECISION,
                          const bool printError = true)
{
  if (!transform.matrix().row(3).isApprox(Eigen::Vector4d::UnitW().transpose(), precision))
  {
    if (printError)
    {
      std::cerr << "The given transform is not an isometry! Its last row deviates from [0 0 0 1] by ["
                << (transform.matrix().row(3) - Eigen::Vector4d::UnitW().transpose())
                << "] but the required precision is " << precision << "." << std::endl;
    }
    return false;
  }

  Eigen::Isometry3d::LinearMatrixType scale;
  transform.computeRotationScaling((Eigen::Isometry3d::LinearMatrixType*)nullptr, &scale);
  if (!scale.isApprox(Eigen::Matrix3d::Identity(), precision))
  {
    if (printError)
    {
      std::cerr << "The given transform is not an isometry! Its linear part involves non-unit scaling. The scaling "
                   "matrix diagonal differs from [1 1 1] by ["
                << (scale.diagonal().transpose() - Eigen::Vector3d::Ones().transpose())
                << "] but the required precision is " << precision << "." << std::endl;
    }
    return false;
  }

  return true;
}

// To be able to use the more efficient Eigen::Transform::linear() instead of rotation(),
// we need to check the user has really passed an isometry. To avoid runtime costs,
// this check is only done as assert, which gets compiled-out in release builds
#ifdef NDEBUG
#define ASSERT_ISOMETRY(transform) (void)sizeof(transform);  // this is a no-op, but prevents unused variable warnings
#else
#define ASSERT_ISOMETRY(transform)                                                                                     \
  {                                                                                                                    \
    if (!::checkIsometry(transform, CHECK_ISOMETRY_PRECISION))                                                         \
      assert(!"Invalid isometry transform");                                                                           \
  }
#endif

#endif  // GEOMETRIC_SHAPES_CHECK_ISOMETRY_H