Geometry.h

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/*
 * Copyright (c) 2011, Thomas Ruehr <ruehr@cs.tum.edu>
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * 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.
 *     * 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 Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */


#ifndef __GEOMETRY_H__
#define __GEOMETRY_H__

#include <ros/ros.h>

#include <tf/transform_listener.h>

class Geometry
{
private:

    static tf::TransformListener *listener_;

    static Geometry *instance;

    Geometry();

    ~Geometry();

public:

    static Geometry* getInstance()
    {
        if (!instance)instance = new Geometry();
        return instance;
    }

    static void init();

    //scales the transform, e.g. scale .10 = apply returned transform 10 times on the right side to get the same result as applying in once
    static tf::Stamped<tf::Pose> scaleStampedPose(const tf::Stamped<tf::Pose> &in, double scale);
    static tf::Stamped<tf::Pose> scaleStampedTransform(const tf::Stamped<tf::Pose> &in, double scale);

    static tf::Stamped<tf::Pose> getPoseIn(const char target_frame[], tf::Stamped<tf::Pose> src);

    static void printPose(const tf::Stamped<tf::Pose> &toolTargetPose);

    static tf::Stamped<tf::Pose> getPose(const char target_frame[],const char lookup_frame[]);

    static tf::Stamped<tf::Pose> getRelativeTransform(const char source_frameid[], const char target_frameid[]);

    static tf::Stamped<tf::Pose> getTransform(const char baseframe[], const char toolframe[]);

    static tf::Stamped<tf::Pose>  rotateAroundBaseAxis(tf::Stamped<tf::Pose> toolPose, double r_x,double r_y,double r_z);
    static tf::Stamped<tf::Pose>  rotateAroundToolframeAxis(tf::Stamped<tf::Pose> toolPose, double r_x,double r_y,double r_z);
    static tf::Stamped<tf::Pose>  rotateAroundPose(tf::Stamped<tf::Pose> toolPose, tf::Stamped<tf::Pose> pivot, double r_x, double r_y, double r_z);
    static tf::Stamped<tf::Pose>  rotateAroundPose(tf::Stamped<tf::Pose> toolPose, tf::Stamped<tf::Pose> pivot, btQuaternion qa);

    static tf::Stamped<tf::Pose> approach(tf::Stamped<tf::Pose> toolPose, double dist = 0.1);

    static tf::Stamped<tf::Pose> make_pose(double x, double y, double z, double ox, double oy, double oz, double ow, const char target_frame[]);

    static tf::Stamped<tf::Pose> make_pose(const btTransform &trans, const char target_frame[]);

    // given relative pose is relative to the root_frame, return its pose in the frame the root frame is defined in
    static tf::Stamped<tf::Pose> getRel(const tf::Stamped<tf::Pose> &root_frame,  const tf::Stamped<tf::Pose> &relative_pose);

    static tf::Stamped<tf::Pose> getRelInBase(const tf::Stamped<tf::Pose> &root_frame,  const btVector3 &dist);

    static void printPose(const char title[], tf::Stamped<tf::Pose> pose);


};


#endif