CPose3DRotVec.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CPOSE3DROTVEC_H
#define CPOSE3DROTVEC_H

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

namespace mrpt::poses
{
/** A 3D pose, with a 3D translation and a rotation in 3D parameterized in
 * rotation-vector form (equivalent to axis-angle).
 *   The 6D transformation in SE(3) stored in this class is kept in two
 *   separate containers: a 3-array for the rotation vector, and a 3-array for
 * the translation.
 *
 *   \code
 *    CPose3DRotVec  pose;
 *    pose.m_rotvec[{0:2}]=... // Rotation vector
 *    pose.m_coords[{0:2}]=... // Translation
 *   \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 CPose3DRotVec : public CPose<CPose3DRotVec>,
                      public mrpt::serialization::CSerializable
{
    DEFINE_SERIALIZABLE(CPose3DRotVec)

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

    /** @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()
    {
        MRPT_UNUSED_PARAM(constructor_dummy_param);
    }

    /** Constructor with initilization of the pose */
    inline CPose3DRotVec(
        const double vx, const double vy, const double vz, const double x,
        const double y, const double z)
    {
        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 [w1 w2 w3 x y
     * z] */
    inline CPose3DRotVec(const mrpt::math::CArrayDouble<6>& v)
    {
        m_rotvec[0] = v[0];
        m_rotvec[1] = v[1];
        m_rotvec[2] = v[2];
        m_coords[0] = v[3];
        m_coords[1] = v[4];
        m_coords[2] = v[5];
    }

    /** Copy constructor */
    inline CPose3DRotVec(const CPose3DRotVec& o)
    {
        this->m_rotvec = o.m_rotvec;
        this->m_coords = o.m_coords;
    }

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

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

    /** 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: [w1 w2 w3 x y z]
     *  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[3];
        m_coords[1] = vec6[4];
        m_coords[2] = vec6[5];
        m_rotvec[0] = vec6[0];
        m_rotvec[1] = vec6[1];
        m_rotvec[2] = vec6[2];
    }

    /** @} */  // 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(mrpt::math::CMatrixDouble44& out_HM) const
    {
        out_HM.block<3, 3>(0, 0) = getRotationMatrix();
        out_HM.set_unsafe(0, 3, m_coords[0]);
        out_HM.set_unsafe(1, 3, m_coords[1]);
        out_HM.set_unsafe(2, 3, m_coords[2]);
        out_HM.set_unsafe(3, 0, 0);
        out_HM.set_unsafe(3, 1, 0);
        out_HM.set_unsafe(3, 2, 0);
        out_HM.set_unsafe(3, 3, 1);
    }

    /** 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(mrpt::math::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;

    inline void setFromTransformationMatrix(
        const mrpt::math::CMatrixDouble44& m)
    {
        mrpt::math::CArrayDouble<3> aux = rotVecFromRotMat(m);

        this->m_rotvec[0] = aux[0];
        this->m_rotvec[1] = aux[1];
        this->m_rotvec[2] = aux[2];

        this->m_coords[0] = m.get_unsafe(0, 3);
        this->m_coords[1] = m.get_unsafe(1, 3);
        this->m_coords[2] = m.get_unsafe(2, 3);
    }

    void setFromXYZAndAngles(
        const double x, const double y, const double z, const double yaw = 0,
        const double pitch = 0, const double roll = 0);

    /** 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 mrpt::math::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 =
            nullptr,
        mrpt::math::CMatrixFixedNumeric<double, 3, 6>* out_jacobian_df_dpose =
            nullptr) 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 mrpt::math::TPoint3D local_point,
        mrpt::math::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 =
            nullptr,
        mrpt::math::CMatrixFixedNumeric<double, 3, 6>* out_jacobian_df_dpose =
            nullptr) 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,
        mrpt::math::CMatrixFixedNumeric<double, 6, 6>*
            out_jacobian_drvtC_drvtA = nullptr,
        mrpt::math::CMatrixFixedNumeric<double, 6, 6>*
            out_jacobian_drvtC_drvtB = nullptr);

    /**  Convert this RVT into a quaternion + XYZ
     */
    void toQuatXYZ(CPose3DQuat& q) const;

    /** 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;
    }

    /** Copy operator */
    inline CPose3DRotVec& operator=(const CPose3DRotVec& o)
    {
        this->m_rotvec = o.m_rotvec;
        this->m_coords = o.m_coords;
        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();

    /** Compute the inverse of this pose and return the result. */
    CPose3DRotVec getInverse() const;

    /** 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;
    }

    /** Create a vector with 3 components according to the input transformation
     * matrix (only the rotation will be taken into account)
     */
    mrpt::math::CArrayDouble<3> rotVecFromRotMat(
        const math::CMatrixDouble44& m);

    /** 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)
    {
        mrpt::math::CMatrixDouble m;
        if (!m.fromMatlabStringFormat(s))
            THROW_EXCEPTION("Malformed expression in ::fromString");
        ASSERTMSG_(m.rows() == 1 && m.cols() == 6, "Expected vector length=6");
        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. */
    mrpt::math::CArrayDouble<3> ln_rotation() const;

    /** @} */

    /** Used to emulate CPosePDF types, for example, in
     * mrpt::graphs::CNetworkOfPoses */
    using type_value = CPose3DRotVec;
    enum
    {
        is_3D_val = 1
    };
    static constexpr bool is_3D() { return is_3D_val != 0; }
    enum
    {
        rotation_dimensions = 3
    };
    enum
    {
        is_PDF_val = 0
    };
    static constexpr bool is_PDF() { return is_PDF_val != 0; }
    inline const type_value& getPoseMean() const { return *this; }
    inline type_value& getPoseMean() { return *this; }
    void setToNaN() override;

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

    // size is constant
    enum
    {
        static_size = 6
    };
    static constexpr size_type size() { return static_size; }
    static constexpr bool empty() { return false; }
    static constexpr 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& 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 operator-(const CPose3DRotVec& p);

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

}  // namespace mrpt::poses
#endif