Program Listing for File util.hpp

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#ifndef FUSE_CORE__UTIL_HPP_
#define FUSE_CORE__UTIL_HPP_

#include <ceres/jet.h>
#include <Eigen/Core>

#include <cmath>
#include <string>

#include <rclcpp/logging.hpp>

namespace fuse_core
{

template<typename T>
static inline T getPitch(const T w, const T x, const T y, const T z)
{
  // Adapted from https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
  const T sin_pitch = T(2.0) * (w * y - z * x);

  if (ceres::abs(sin_pitch) >= T(1.0)) {
    return (sin_pitch >= T(0.0) ? T(1.0) : T(-1.0)) * T(M_PI / 2.0);
  } else {
    return ceres::asin(sin_pitch);
  }
}

template<typename T>
static inline T getRoll(const T w, const T x, const T y, const T z)
{
  // Adapted from https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
  const T sin_roll = T(2.0) * (w * x + y * z);
  const T cos_roll = T(1.0) - (T(2.0) * (x * x + y * y));
  return ceres::atan2(sin_roll, cos_roll);
}

template<typename T>
static inline T getYaw(const T w, const T x, const T y, const T z)
{
  // Adapted from https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
  const T sin_yaw = T(2.0) * (w * z + x * y);
  const T cos_yaw = T(1.0) - (T(2.0) * (y * y + z * z));
  return ceres::atan2(sin_yaw, cos_yaw);
}

template<typename T>
void wrapAngle2D(T & angle)
{
  // Define some necessary variations of PI with the correct type (double or Jet)
  static const T PI = T(M_PI);
  static const T TAU = T(2 * M_PI);
  // Handle the 1*Tau roll-over (https://tauday.com/tau-manifesto)
  // Use ceres::floor because it is specialized for double and Jet types.
  angle -= TAU * ceres::floor((angle + PI) / TAU);
}

template<typename T>
T wrapAngle2D(const T & angle)
{
  T wrapped = angle;
  wrapAngle2D(wrapped);
  return wrapped;
}

template<typename T>
Eigen::Matrix<T, 2, 2, Eigen::RowMajor> rotationMatrix2D(const T angle)
{
  const T cos_angle = ceres::cos(angle);
  const T sin_angle = ceres::sin(angle);
  Eigen::Matrix<T, 2, 2, Eigen::RowMajor> rotation;
  rotation << cos_angle, -sin_angle, sin_angle, cos_angle;
  return rotation;
}

inline
std::string joinTopicName(std::string a, std::string b)
{
  if (a.empty()) {
    return b;
  }
  if (b.empty()) {
    return a;
  }
  if (b.front() == '/' || b.front() == '~') {
    RCLCPP_WARN(
      rclcpp::get_logger("fuse"), "Second argument to joinTopicName is absolute! Returning it.");
    return b;
  }

  if (a.back() == '/') {
    a.pop_back();
  }

  return a + "/" + b;
}

}  // namespace fuse_core

#endif  // FUSE_CORE__UTIL_HPP_