CPose3DRotVec.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
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   |                       http://www.mrpt.org/                                |
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   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
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   |  This file is part of the MRPT project.                                   |
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   |     MRPT is free software: you can redistribute it and/or modify          |
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   |   MRPT is distributed in the hope that it will be useful,                 |
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   |     GNU General Public License for more details.                          |
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   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
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   +---------------------------------------------------------------------------+ */
#ifndef CPOSE3DROTVEC_H
#define CPOSE3DROTVEC_H

#include <mrpt/poses/CPose.h>
#include <mrpt/math/CMatrixFixedNumeric.h>
#include <mrpt/math/CQuaternion.h>

namespace mrpt
{
namespace poses
{
        using namespace mrpt::math;

        class BASE_IMPEXP CPose3D;
        class BASE_IMPEXP CPose3DQuat;

        DEFINE_SERIALIZABLE_PRE( CPose3DRotVec )

        /** A 3D pose (a 3D translation + a rotation in 3D).
         *   The 6D transformation in SE(3) stored in this class is kept in two
         *   separate containers: a 3-array for the translation, and a 3-array for a rotation vector.
         *
         *   \code
         *    CPose3DRotVec  pose;
         *    pose.m_coords[{0:2}]=... // Translation
         *    pose.m_rotvec[{0:2}]=... // Rotation vector
         *   \endcode
         *
         *  For a complete descriptionan of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer
         *    to the <a href="http://www.mrpt.org/2D_3D_Geometry"> 2D/3D Geometry tutorial</a> online.
         *
         *  There are Lie algebra methods: \a exp and \a ln (see the methods for documentation).
         *
         * \ingroup poses_grp
         * \sa CPose3DRotVec, CPoseOrPoint,CPoint3D, mrpt::math::CQuaternion
         */
        class BASE_IMPEXP CPose3DRotVec : public CPose<CPose3DRotVec>, public mrpt::utils::CSerializable
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CPose3DRotVec )

        public:
                CArrayDouble<3>   m_coords; //!< The translation vector [x,y,z]
                CArrayDouble<3>   m_rotvec; //!< The rotation vector [vx,vy,vz]

                /** @name Constructors
                    @{ */

                /** Default constructor, with all the coordinates set to zero. */
                inline CPose3DRotVec() {
                    m_coords[0]=m_coords[1]=m_coords[2]=0;
                    m_rotvec[0]=m_rotvec[1]=m_rotvec[2]=0;
                }

                /** Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument */
                inline CPose3DRotVec(TConstructorFlags_Poses constructor_dummy_param) : m_coords(),m_rotvec()  { }

                /** Constructor with initilization of the pose */
                inline CPose3DRotVec(const double x,const double  y,const double  z,const double  vx, const double  vy, const double vz) {
                    m_coords[0]= x; m_coords[1]= y; m_coords[2]= z;
                    m_rotvec[0]=vx; m_rotvec[1]=vy; m_rotvec[2]=vz;
                }

                /** Constructor with initilization of the pose from a vector [x y z rx ry rz] */
                inline CPose3DRotVec(const CArrayDouble<6> &v) {
                    m_coords[0]=v[0]; m_coords[1]=v[1]; m_coords[2]=v[2];
                    m_rotvec[0]=v[3]; m_rotvec[1]=v[4]; m_rotvec[2]=v[5];
                }

                /** Constructor from a 4x4 homogeneous matrix: */
                explicit CPose3DRotVec(const math::CMatrixDouble44 &m);

                /** Constructor from a CPose3D object.*/
                explicit CPose3DRotVec(const CPose3D &);

                /** Constructor from a quaternion (which only represents the 3D rotation part) and a 3D displacement. */
                CPose3DRotVec(const mrpt::math::CQuaternionDouble &q, const double x, const double y, const double z );

                /** Constructor from an array with these 6 elements: [x y z vx vy vz]
                  *  where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose
                  *  \sa setFrom12Vector, getAs12Vector
                  */
                inline explicit CPose3DRotVec(const double *vec6) {
                    m_coords[0]=vec6[0]; m_coords[1]=vec6[1]; m_coords[2]=vec6[2];
                    m_rotvec[0]=vec6[3]; m_rotvec[1]=vec6[4]; m_rotvec[2]=vec6[5];
                }

                /** @} */  // end Constructors


                /** @name Access 3x3 rotation and 4x4 homogeneous matrices
                    @{ */

                /** Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
                  * \sa getInverseHomogeneousMatrix, getRotationMatrix
                  */
                inline void  getHomogeneousMatrix(CMatrixDouble44 & out_HM) const {
                    out_HM.block<3,3>(0,0) = getRotationMatrix();
                    out_HM.get_unsafe(0,3)=m_coords[0];
                    out_HM.get_unsafe(1,3)=m_coords[1];
                    out_HM.get_unsafe(2,3)=m_coords[2];
                    out_HM.get_unsafe(3,0)=0; out_HM.get_unsafe(3,1)=0; out_HM.get_unsafe(3,2)=0; out_HM.get_unsafe(3,3)=1;
                }

                inline CMatrixDouble44 getHomogeneousMatrixVal() const { CMatrixDouble44 M; getHomogeneousMatrix(M); return M;}

                /** Get the 3x3 rotation matrix \sa getHomogeneousMatrix  */
                void getRotationMatrix( mrpt::math::CMatrixDouble33 & ROT ) const;
                //! \overload
                inline const mrpt::math::CMatrixDouble33 getRotationMatrix() const { mrpt::math::CMatrixDouble33 ROT(UNINITIALIZED_MATRIX); getRotationMatrix(ROT); return ROT; }

                /** @} */  // end rot and HM


                /** @name Pose-pose and pose-point compositions and operators
                    @{ */

                /** The operator \f$ a \oplus b \f$ is the pose compounding operator. */
                inline CPose3DRotVec  operator + (const CPose3DRotVec& b) const
                {
                        CPose3DRotVec ret(UNINITIALIZED_POSE);
                        ret.composeFrom(*this,b);
                        return ret;
                }

                /** The operator \f$ a \oplus b \f$ is the pose compounding operator. */
                CPoint3D  operator + (const CPoint3D& b) const;

                /** The operator \f$ a \oplus b \f$ is the pose compounding operator. */
                CPoint3D  operator + (const CPoint2D& b) const;

        /** Computes the spherical coordinates of a 3D point as seen from the 6D pose specified by this object. For the coordinate system see mrpt::poses::CPose3D */
        void sphericalCoordinates(
            const TPoint3D &point,
            double &out_range,
            double &out_yaw,
            double &out_pitch ) const;

                /** An alternative, slightly more efficient way of doing \f$ G = P \oplus L \f$ with G and L being 3D points and P this 6D pose.
                  *  If pointers are provided, the corresponding Jacobians are returned.
                  *  See <a href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty" >this report</a> for mathematical details.
                  */
                void composePoint(double lx,double ly,double lz, double &gx, double &gy, double &gz,
                        mrpt::math::CMatrixFixedNumeric<double,3,3>  *out_jacobian_df_dpoint=NULL,
                        mrpt::math::CMatrixFixedNumeric<double,3,6>  *out_jacobian_df_dpose=NULL) const;

                /** An alternative, slightly more efficient way of doing \f$ G = P \oplus L \f$ with G and L being 3D points and P this 6D pose.
                  * \note local_point is passed by value to allow global and local point to be the same variable
                  */
                inline void composePoint(const TPoint3D local_point, TPoint3D &global_point) const {
                        composePoint(local_point.x,local_point.y,local_point.z,  global_point.x,global_point.y,global_point.z );
                }

                /**  Computes the 3D point L such as \f$ L = G \ominus this \f$.
                  *  If pointers are provided, the corresponding Jacobians are returned.
                  *  See <a href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty" >this report</a> for mathematical details.
                  * \sa composePoint, composeFrom
                  */
                void inverseComposePoint(const double gx,const double gy,const double gz,double &lx,double &ly,double &lz,
                        mrpt::math::CMatrixFixedNumeric<double,3,3>  *out_jacobian_df_dpoint=NULL,
                        mrpt::math::CMatrixFixedNumeric<double,3,6>  *out_jacobian_df_dpose=NULL) const;

                /**  Makes "this = A (+) B"; this method is slightly more efficient than "this= A + B;" since it avoids the temporary object.
                  *  \note A or B can be "this" without problems.
                  */
                void composeFrom(const CPose3DRotVec& A, const CPose3DRotVec& B );

                /** Make \f$ this = this \oplus b \f$  (\a b can be "this" without problems) */
                inline CPose3DRotVec&  operator += (const CPose3DRotVec& b)
                {
                        composeFrom(*this,b);
                        return *this;
                }

                /**  Makes \f$ this = A \ominus B \f$ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object.
                  *  \note A or B can be "this" without problems.
                  * \sa composeFrom, composePoint
                  */
                void inverseComposeFrom(const CPose3DRotVec& A, const CPose3DRotVec& B );

                /** Compute \f$ RET = this \oplus b \f$  */
                inline CPose3DRotVec  operator - (const CPose3DRotVec& b) const
                {
                        CPose3DRotVec ret(UNINITIALIZED_POSE);
                        ret.inverseComposeFrom(*this,b);
                        return ret;
                }

                /** Convert this pose into its inverse, saving the result in itself. \sa operator- */
                void inverse();

                /** makes: this = p (+) this */
                inline void  changeCoordinatesReference( const CPose3DRotVec & p ) { composeFrom(p,CPose3DRotVec(*this)); }

                /** @} */  // compositions


                /** @name Access and modify contents
                        @{ */

        inline double rx() const { return m_rotvec[0]; }
        inline double ry() const { return m_rotvec[1]; }
        inline double rz() const { return m_rotvec[2]; }

        inline double &rx() { return m_rotvec[0]; }
        inline double &ry() { return m_rotvec[1]; }
        inline double &rz() { return m_rotvec[2]; }

                /** Scalar sum of all 6 components: This is diferent from poses composition, which is implemented as "+" operators. */
                inline void addComponents(const CPose3DRotVec &p) {
                    m_coords+=p.m_coords;
                    m_rotvec+=p.m_rotvec;
        }

                /** Scalar multiplication of x,y,z,vx,vy,vz. */
                inline void operator *=(const double s) {
            m_coords*=s;
            m_rotvec*=s;
                }

                /** Set the pose from a 3D position (meters) and yaw/pitch/roll angles (radians) - This method recomputes the internal rotation matrix.
                  * \sa getYawPitchRoll, setYawPitchRoll
                  */
                void  setFromValues(
                        const double            x0,
                        const double            y0,
                        const double            z0,
                        const double            vx,
                        const double            vy,
                        const double            vz )
        {
            m_coords[0]=x0; m_coords[1]=y0; m_coords[2]=z0;
            m_rotvec[0]=vx; m_rotvec[1]=vy; m_rotvec[2]=vz;
        }

                /** Set pose from an array with these 6 elements: [x y z vx vy vz]
                  *  where v{xyz} is the rotation vector and {xyz} the 3D translation of the pose
                  *  \sa getAs6Vector
                  */
                template <class ARRAYORVECTOR>
                inline void setFrom6Vector(const ARRAYORVECTOR &vec6)
                {
                    m_rotvec[0]=vec6[3]; m_rotvec[1]=vec6[4]; m_rotvec[2]=vec6[5];
                    m_coords[0]=vec6[0]; m_coords[1]=vec6[1]; m_coords[2]=vec6[2];
                }

                /** Gets pose as an array with these 6 elements: [x y z vx vy vz]
                  *  where v{xyz} is the rotation vector and {xyz} the 3D translation of the pose
                  *  The target vector MUST ALREADY have space for 6 elements (i.e. no .resize() method will be called).
                  *  \sa setAs6Vector, getAsVector
                  */
                template <class ARRAYORVECTOR>
                inline void getAs6Vector(ARRAYORVECTOR &vec6) const
                {
                    vec6[0]=m_coords[0]; vec6[1]=m_coords[1]; vec6[2]=m_coords[2];
                    vec6[3]=m_rotvec[0]; vec6[4]=m_rotvec[1]; vec6[5]=m_rotvec[2];
                }

                /** Like getAs6Vector() but for dynamic size vectors (required by base class CPoseOrPoint) */
                template <class ARRAYORVECTOR>
                inline void getAsVector(ARRAYORVECTOR &v) const { v.resize(6); getAs6Vector(v); }

                inline const double &operator[](unsigned int i) const
                {
                        switch(i)
                        {
                                case 0:return m_coords[0];
                                case 1:return m_coords[1];
                                case 2:return m_coords[2];
                                case 3:return m_rotvec[0];
                                case 4:return m_rotvec[1];
                                case 5:return m_rotvec[2];
                                default:
                                throw std::runtime_error("CPose3DRotVec::operator[]: Index of bounds.");
                        }
                }
                inline double &operator[](unsigned int i)
                {
                        switch(i)
                        {
                                case 0:return m_coords[0];
                                case 1:return m_coords[1];
                                case 2:return m_coords[2];
                                case 3:return m_rotvec[0];
                                case 4:return m_rotvec[1];
                                case 5:return m_rotvec[2];
                                default:
                                throw std::runtime_error("CPose3DRotVec::operator[]: Index of bounds.");
                        }
                }

                /** Returns a human-readable textual representation of the object: "[x y z rx ry rz]"
                  * \sa fromString
                  */
                void asString(std::string &s) const { s = mrpt::format("[%f %f %f %f %f %f]",m_coords[0],m_coords[1],m_coords[2],m_rotvec[0],m_rotvec[1],m_rotvec[2]); }
                inline std::string asString() const { std::string s; asString(s); return s; }

                /** Set the current object value from a string generated by 'asString' (eg: "[x y z yaw pitch roll]", angles in deg. )
                  * \sa asString
                  * \exception std::exception On invalid format
                  */
                void fromString(const std::string &s) {
                        CMatrixDouble  m;
                        if (!m.fromMatlabStringFormat(s)) THROW_EXCEPTION("Malformed expression in ::fromString");
                        ASSERTMSG_(mrpt::math::size(m,1)==1 && mrpt::math::size(m,2)==6, "Wrong size of vector in ::fromString");
                        for (int i=0;i<3;i++) m_coords[i]=m.get_unsafe(0,i);
                        for (int i=0;i<3;i++) m_rotvec[i]=m.get_unsafe(0,3+i);
                 }

                /** @} */  // modif. components


                /** @name Lie Algebra methods
                    @{ */

                /** Exponentiate a Vector in the SE(3) Lie Algebra to generate a new CPose3DRotVec (static method). */
                static CPose3DRotVec exp(const mrpt::math::CArrayDouble<6> & vect);

                /** Take the logarithm of the 3x4 matrix defined by this pose, generating the corresponding vector in the SE(3) Lie Algebra. */
                void ln(mrpt::math::CArrayDouble<6> &out_ln) const;

                /** Take the logarithm of the 3x3 rotation matrix part of this pose, generating the corresponding vector in the Lie Algebra. */
                CArrayDouble<3> ln_rotation() const;

                /** @} */

                typedef CPose3DRotVec  type_value; //!< Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses
                enum { is_3D_val = 1 };
                static inline bool is_3D() { return is_3D_val!=0; }
                enum { rotation_dimensions = 3 };
                enum { is_PDF_val = 0 };
                static inline bool is_PDF() { return is_PDF_val!=0; }

                inline const type_value & getPoseMean() const { return *this; }
                inline       type_value & getPoseMean()       { return *this; }

                /** @name STL-like methods and typedefs
                   @{   */
                typedef double         value_type;              //!< The type of the elements
                typedef double&        reference;
                typedef const double&  const_reference;
                typedef std::size_t    size_type;
                typedef std::ptrdiff_t difference_type;


                // size is constant
                enum { static_size = 6 };
                static inline size_type size() { return static_size; }
                static inline bool empty() { return false; }
                static inline size_type max_size() { return static_size; }
                static inline void resize(const size_t n) { if (n!=static_size) throw std::logic_error(format("Try to change the size of CPose3DRotVec to %u.",static_cast<unsigned>(n))); }
                /** @} */

        }; // End of class def.


        std::ostream BASE_IMPEXP  & operator << (std::ostream& o, const CPose3DRotVec& p);

        /** Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll) */
        CPose3DRotVec BASE_IMPEXP operator -(const CPose3DRotVec &p);

        bool BASE_IMPEXP operator==(const CPose3DRotVec &p1,const CPose3DRotVec &p2);
        bool BASE_IMPEXP operator!=(const CPose3DRotVec &p1,const CPose3DRotVec &p2);


        } // End of namespace
} // End of namespace

#endif