conversions.hpp

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 *  Created: 20.05.2013.
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#ifndef CONVERSIONS_HPP_
#define CONVERSIONS_HPP_
#include <Eigen/Dense>

#include <geometry_msgs/Quaternion.h>

namespace labust
{
        namespace tools
        {
                template <class Point, class Iterator>
                void pointToVector(const Point& point, Iterator& vec, int offset = 0)
                {
                        vec[offset+0] = point.x;
                        vec[offset+1] = point.y;
                        vec[offset+2] = point.z;
                }

                template <class Point, class Iterator>
                void vectorToPoint(const Iterator& vec, Point& point, int offset = 0)
                {
                        point.x = vec[offset+0];
                        point.y = vec[offset+1];
                        point.z = vec[offset+2];
                }

                template <class Point, class Iterator>
                void nedToVector(const Point& point, Iterator& vec, int offset = 0)
                {
                        vec[offset+0] = point.north;
                        vec[offset+1] = point.east;
                        vec[offset+2] = point.depth;
                }

                template <class Point, class Iterator>
                void vectorToNED(const Iterator& vec, Point& point, int offset = 0)
                {
                        point.north = vec[offset+0];
                        point.east = vec[offset+1];
                        point.depth = vec[offset+2];
                }

                template <class Point, class Iterator>
                void rpyToVector(const Point& point, Iterator& vec, int offset = 0)
                {
                        vec[offset+0] = point.roll;
                        vec[offset+1] = point.pitch;
                        vec[offset+2] = point.yaw;
                }

                template <class Point, class Iterator>
                void vectorToRPY(const Iterator& vec, Point& point, int offset = 0)
                {
                        point.roll = vec[offset+0];
                        point.pitch = vec[offset+1];
                        point.yaw = vec[offset+2];
                }

                template <class Point, class Iterator>
                void vectorToDisableAxis(const Iterator& vec, Point& point)
                {
                        point.x = vec[0];
                        point.y = vec[1];
                        point.z = vec[2];
                        point.roll = vec[3];
                        point.pitch = vec[4];
                        point.yaw = vec[5];
                }

                template <class Point, class Iterator>
                void disableAxisToVector(Point& point, const Iterator& vec)
                {
                        vec[0] = point.x;
                        vec[1] = point.y;
                        vec[2] = point.z;
                        vec[3] = point.roll;
                        vec[4] = point.pitch;
                        vec[5] = point.yaw;
                }

                template <class T>
                void quaternionFromEulerZYX(double roll, double pitch, double yaw, Eigen::Quaternion<T>& q)
                {
                        using namespace Eigen;
                        Matrix<T,3,3> Cx,Cy,Cz,m;
                        typedef Matrix<T,3,1> Vector3;
                        Cx = AngleAxis<T>(roll, Vector3::UnitX());
                        Cy = AngleAxis<T>(pitch, Vector3::UnitY());
                        Cz = AngleAxis<T>(yaw, Vector3::UnitZ());
                        //ZYX convention
                        m = (Cz*Cy*Cx); //From child to parent
                        //m = (Cz*Cy*Cx).transpose(); //From parent to child
                        q = Quaternion<T>(m);
                }

                template <class T>
                void quaternionFromEulerZYX(double roll, double pitch, double yaw, T& q)
                {
                        Eigen::Quaternion<double> t;
                        quaternionFromEulerZYX(roll, pitch, yaw, t);
                        q.x = t.x();
                        q.y = t.y();
                        q.z = t.z();
                        q.w = t.w();
                }

                //\todo Test and document this method
                template <class T>
                void eulerZYXFromQuaternion(const T& q, double& roll, double& pitch, double& yaw)
                {
                        using namespace Eigen;
                        //From child to parent
                        roll = atan2(2*(q.y()*q.z() + q.x()*q.w()),1-2*(q.x()*q.x() + q.y()*q.y()));
                        pitch = -asin(2*(q.x()*q.z()-q.y()*q.w()));
                        yaw = atan2(2*(q.y()*q.x()+q.w()*q.z()),1-2*(q.y()*q.y()+q.z()*q.z()));
                        //From parent to child
                        //roll = atan2(2*(q.y()*q.z() - q.x()*q.w()),1-2*(q.x()*q.x() + q.y()*q.y()));
                        //pitch = -asin(2*(q.x()*q.z() + q.y()*q.w()));
                        //yaw = atan2(2*(q.x()*q.y()-q.w()*q.z()),1-2*(q.y()*q.y()+q.z()*q.z()));
                }

                //\todo Test and document this method
                template <class T, class V>
                void eulerZYXFromQuaternion(const T& q, V& vect)
                {
                        using namespace Eigen;
                        //From child to parent
                        enum {roll=0, pitch, yaw};
                        vect(roll) = atan2(2*(q.y()*q.z() + q.x()*q.w()),1-2*(q.x()*q.x() + q.y()*q.y()));
                        vect(pitch) = -asin(2*(q.x()*q.z()-q.y()*q.w()));
                        vect(yaw) = atan2(2*(q.y()*q.x()+q.w()*q.z()),1-2*(q.y()*q.y()+q.z()*q.z()));
                        //From parent to child
                        //roll = atan2(2*(q.y()*q.z() - q.x()*q.w()),1-2*(q.x()*q.x() + q.y()*q.y()));
                        //pitch = -asin(2*(q.x()*q.z() + q.y()*q.w()));
                        //yaw = atan2(2*(q.x()*q.y()-q.w()*q.z()),1-2*(q.y()*q.y()+q.z()*q.z()));
                }

                //\todo Test and document this method
                inline void eulerZYXFromQuaternion(const geometry_msgs::Quaternion& q,
                                double& roll, double& pitch, double& yaw)
                {
                        using namespace Eigen;
                        //From child to parent
                        roll = atan2(2*(q.y*q.z + q.x*q.w),1-2*(q.x*q.x + q.y*q.y));
                        pitch = -asin(2*(q.x*q.z-q.y*q.w));
                        yaw = atan2(2*(q.y*q.x+q.w*q.z),1-2*(q.y*q.y+q.z*q.z));
                        //From parent to child
                        //roll = atan2(2*(q.y*q.z - q.x*q.w),1-2*(q.x*q.x + q.y*q.y));
                        //pitch = -asin(2*(q.x*q.z + q.y*q.w));
                        //yaw = atan2(2*(q.x*q.y-q.w*q.z),1-2*(q.y*q.y+q.z*q.z));
                }
        }
}

/* CONVERSIONS_HPP_ */
#endif