BsplineSE3.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef OV_CORE_BSPLINESE3_H
#define OV_CORE_BSPLINESE3_H
 
#include <Eigen/Eigen>
#include <map>
#include <vector>
 
#include "utils/print.h"
#include "utils/quat_ops.h"
 
namespace ov_core {
 
class BsplineSE3 {
 
public:
  BsplineSE3() {}
 
  void feed_trajectory(std::vector<Eigen::VectorXd> traj_points);
 
  bool get_pose(double timestamp, Eigen::Matrix3d &R_GtoI, Eigen::Vector3d &p_IinG);
 
  bool get_velocity(double timestamp, Eigen::Matrix3d &R_GtoI, Eigen::Vector3d &p_IinG, Eigen::Vector3d &w_IinI, Eigen::Vector3d &v_IinG);
 
  bool get_acceleration(double timestamp, Eigen::Matrix3d &R_GtoI, Eigen::Vector3d &p_IinG, Eigen::Vector3d &w_IinI,
                        Eigen::Vector3d &v_IinG, Eigen::Vector3d &alpha_IinI, Eigen::Vector3d &a_IinG);
 
  double get_start_time() { return timestamp_start; }
 
protected:
  double dt;
 
  double timestamp_start;
 
  typedef std::map<double, Eigen::Matrix4d, std::less<double>, Eigen::aligned_allocator<std::pair<const double, Eigen::Matrix4d>>>
      AlignedEigenMat4d;
 
  AlignedEigenMat4d control_points;
 
  static bool find_bounding_poses(const double timestamp, const AlignedEigenMat4d &poses, double &t0, Eigen::Matrix4d &pose0, double &t1,
                                  Eigen::Matrix4d &pose1);
 
  static bool find_bounding_control_points(const double timestamp, const AlignedEigenMat4d &poses, double &t0, Eigen::Matrix4d &pose0,
                                           double &t1, Eigen::Matrix4d &pose1, double &t2, Eigen::Matrix4d &pose2, double &t3,
                                           Eigen::Matrix4d &pose3);
};
 
} // namespace ov_core
 
#endif // OV_CORE_BSPLINESE3_H