00001 //================================================================================================= 00002 // Copyright (c) 2014, Johannes Meyer and contributors, Technische Universitat Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef HECTOR_POSE_ESTIMATION_EIGEN_QUATERNIONBASE_PLUGIN 00030 #define HECTOR_POSE_ESTIMATION_EIGEN_QUATERNIONBASE_PLUGIN 00031 00032 #ifndef EIGEN_QUATERNIONBASE_PLUGIN 00033 #define EIGEN_QUATERNIONBASE_PLUGIN <hector_pose_estimation/Eigen/QuaternionBaseAddons.h> 00034 #endif 00035 00036 #else // HECTOR_POSE_ESTIMATION_EIGEN_QUATERNIONBASE_PLUGIN 00037 00038 template <typename OtherDerived> 00039 Derived &fromRotationVector(const MatrixBase<OtherDerived> &rotation_vector) 00040 { 00041 eigen_assert(rotation_vector.size() == 3); 00042 00043 const double angle = rotation_vector.norm(); 00044 double sin_angle_2, cos_angle_2; 00045 ::sincos(angle / 2., &sin_angle_2, &cos_angle_2); 00046 double sin_angle_norm_2 = 0.5; 00047 if (angle > NumTraits<double>::dummy_precision()) sin_angle_norm_2 = sin_angle_2 / angle; 00048 00049 w() = cos_angle_2; 00050 vec() = rotation_vector * sin_angle_norm_2; 00051 00052 return derived(); 00053 } 00054 00055 Vector3 toRotationVector() const 00056 { 00057 eigen_assert(squaredNorm() == 1.0); 00058 Scalar vector_norm = vec().norm(); 00059 if (vector_norm <= NumTraits<Scalar>::dummy_precision()) 00060 return vec() * Scalar(2.); 00061 else 00062 return vec() / vector_norm * ::acos(w()) * Scalar(2.); 00063 } 00064 00065 #endif // HECTOR_POSE_ESTIMATION_EIGEN_QUATERNIONBASE_PLUGIN