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#ifndef _MANIF_SGAL3_H_ | ||
#define _MANIF_SGAL3_H_ | ||
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#include "manif/impl/macro.h" | ||
#include "manif/impl/lie_group_base.h" | ||
#include "manif/impl/tangent_base.h" | ||
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#include "manif/impl/sgal3/SGal3_properties.h" | ||
#include "manif/impl/sgal3/SGal3_base.h" | ||
#include "manif/impl/sgal3/SGal3Tangent_base.h" | ||
#include "manif/impl/sgal3/SGal3.h" | ||
#include "manif/impl/sgal3/SGal3Tangent.h" | ||
#include "manif/impl/sgal3/SGal3_map.h" | ||
#include "manif/impl/sgal3/SGal3Tangent_map.h" | ||
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#endif // _MANIF_SGAL3_H_ |
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#ifndef _MANIF_MANIF_SGAL3_H_ | ||
#define _MANIF_MANIF_SGAL3_H_ | ||
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#include "manif/impl/sgal3/SGal3_base.h" | ||
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namespace manif { | ||
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// Forward declare for type traits specialization | ||
template <typename _Scalar> struct SGal3; | ||
template <typename _Scalar> struct SGal3Tangent; | ||
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namespace internal { | ||
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//! Traits specialization | ||
template <typename _Scalar> | ||
struct traits<SGal3<_Scalar>> { | ||
using Scalar = _Scalar; | ||
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using LieGroup = SGal3<_Scalar>; | ||
using Tangent = SGal3Tangent<_Scalar>; | ||
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using Base = SGal3Base<SGal3<_Scalar>>; | ||
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static constexpr int Dim = LieGroupProperties<Base>::Dim; | ||
static constexpr int DoF = LieGroupProperties<Base>::DoF; | ||
static constexpr int RepSize = 11; | ||
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/// @todo would be nice to concat vec3 + quaternion + vec3 + t | ||
using DataType = Eigen::Matrix<Scalar, RepSize, 1>; | ||
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using Jacobian = Eigen::Matrix<Scalar, DoF, DoF>; | ||
using Rotation = Eigen::Matrix<Scalar, 3, 3>; | ||
using Translation = Eigen::Matrix<Scalar, 3, 1>; | ||
using LinearVelocity = Eigen::Matrix<Scalar, 3, 1>; | ||
using Vector = Eigen::Matrix<Scalar, 3, 1>; | ||
}; | ||
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} // namespace internal | ||
} // namespace manif | ||
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namespace manif { | ||
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// | ||
// LieGroup | ||
// | ||
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/** | ||
* @brief Represent an element of SGal3. | ||
*/ | ||
template <typename _Scalar> | ||
struct SGal3 : SGal3Base<SGal3<_Scalar>> { | ||
private: | ||
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using Base = SGal3Base<SGal3<_Scalar>>; | ||
using Type = SGal3<_Scalar>; | ||
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protected: | ||
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using Base::derived; | ||
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public: | ||
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MANIF_MAKE_ALIGNED_OPERATOR_NEW_COND | ||
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MANIF_COMPLETE_GROUP_TYPEDEF | ||
using Translation = typename Base::Translation; | ||
using Quaternion = Eigen::Quaternion<Scalar>; | ||
using LinearVelocity = typename Base::LinearVelocity; | ||
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MANIF_INHERIT_GROUP_API | ||
using Base::rotation; | ||
using Base::normalize; | ||
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SGal3() = default; | ||
~SGal3() = default; | ||
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MANIF_COPY_CONSTRUCTOR(SGal3) | ||
MANIF_MOVE_CONSTRUCTOR(SGal3) | ||
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template <typename _DerivedOther> | ||
SGal3(const LieGroupBase<_DerivedOther>& o); | ||
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MANIF_GROUP_ASSIGN_OP(SGal3) | ||
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/** | ||
* @brief Constructor given a translation, a unit quaternion and a linear velocity. | ||
* @param[in] t A translation vector. | ||
* @param[in] q A unit quaternion. | ||
* @param[in] v A linear velocity vector. | ||
* @param[in] time A time. | ||
* @throws manif::invalid_argument on un-normalized complex number. | ||
*/ | ||
SGal3( | ||
const Translation& t, | ||
const Eigen::Quaternion<Scalar>& q, | ||
const LinearVelocity& v, | ||
const Scalar time | ||
); | ||
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/** | ||
* @brief Constructor given a translation, an angle axis and a linear velocity. | ||
* @param[in] t A translation vector. | ||
* @param[in] angle_axis An angle-axis. | ||
* @param[in] v A linear velocity vector. | ||
* @param[in] time A time. | ||
*/ | ||
SGal3( | ||
const Translation& t, | ||
const Eigen::AngleAxis<Scalar>& angle_axis, | ||
const LinearVelocity& v, | ||
const Scalar time | ||
); | ||
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/** | ||
* @brief Constructor given a translation, SO3 element and a linear velocity. | ||
* @param[in] t A translation vector. | ||
* @param[in] SO3 An element of SO3. | ||
* @param[in] v A linear velocity vector. | ||
* @param[in] time A time. | ||
*/ | ||
SGal3( | ||
const Translation& t, | ||
const SO3<Scalar>& SO3, | ||
const LinearVelocity& v, | ||
const Scalar time | ||
); | ||
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/** | ||
* @brief Constructor given translation components, | ||
* roll-pitch-yaw angles and linear velocity components | ||
* @param[in] x The x component of the translation. | ||
* @param[in] y The y component of the translation. | ||
* @param[in] z The z component of the translation. | ||
* @param[in] roll The roll angle. | ||
* @param[in] pitch The pitch angle. | ||
* @param[in] yaw The yaw angle. | ||
* @param[in] vx The x component of the linear velocity. | ||
* @param[in] vy The y component of the linear velocity. | ||
* @param[in] vz The z component of the linear velocity. | ||
* @param[in] t time. | ||
*/ | ||
SGal3( | ||
const Scalar x, const Scalar y, const Scalar z, | ||
const Scalar roll, const Scalar pitch, const Scalar yaw, | ||
const Scalar vx, const Scalar vy, const Scalar vz, | ||
const Scalar t | ||
); | ||
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/** | ||
* @brief Constructor from a 3D Eigen::Isometry<Scalar> relevant to SE(3) and a linear velocity | ||
* @param[in] h a isometry object from Eigen defined for SE(3) | ||
* @param[in] v a linear velocity vector. | ||
* @note overall, this should be a double direct spatial isometry, | ||
*/ | ||
SGal3( | ||
const Eigen::Transform<_Scalar,3,Eigen::Isometry>& h, | ||
const LinearVelocity& v, | ||
const Scalar t | ||
); | ||
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// LieGroup common API | ||
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DataType& coeffs(); | ||
const DataType& coeffs() const; | ||
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// SGal3 specific API | ||
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protected: | ||
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DataType data_; | ||
}; | ||
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MANIF_EXTRA_GROUP_TYPEDEF(SGal3) | ||
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template <typename _Scalar> | ||
template <typename _DerivedOther> | ||
SGal3<_Scalar>::SGal3(const LieGroupBase<_DerivedOther>& o) : SGal3(o.coeffs()) { | ||
// | ||
} | ||
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template <typename _Scalar> | ||
SGal3<_Scalar>::SGal3( | ||
const Translation& t, | ||
const Eigen::Quaternion<Scalar>& q, | ||
const LinearVelocity& v, | ||
const Scalar time | ||
) : SGal3((DataType() << t, q.coeffs(), v, time).finished()) { | ||
// | ||
} | ||
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template <typename _Scalar> | ||
SGal3<_Scalar>::SGal3( | ||
const Translation& t, | ||
const Eigen::AngleAxis<Scalar>& a, | ||
const LinearVelocity& v, | ||
const Scalar time | ||
) : SGal3(t, Quaternion(a), v, time) { | ||
// | ||
} | ||
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template <typename _Scalar> | ||
SGal3<_Scalar>::SGal3( | ||
const Scalar x, const Scalar y, const Scalar z, | ||
const Scalar roll, const Scalar pitch, const Scalar yaw, | ||
const Scalar vx, const Scalar vy, const Scalar vz, | ||
const Scalar t | ||
) : SGal3( | ||
Translation(x,y,z), | ||
Eigen::Quaternion<Scalar>( | ||
Eigen::AngleAxis<Scalar>(yaw, Eigen::Matrix<Scalar, 3, 1>::UnitZ()) * | ||
Eigen::AngleAxis<Scalar>(pitch, Eigen::Matrix<Scalar, 3, 1>::UnitY()) * | ||
Eigen::AngleAxis<Scalar>(roll, Eigen::Matrix<Scalar, 3, 1>::UnitX()) | ||
), | ||
LinearVelocity(vx, vy, vz), | ||
t | ||
) { | ||
// | ||
} | ||
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template <typename _Scalar> | ||
SGal3<_Scalar>::SGal3( | ||
const Translation& t, | ||
const SO3<Scalar>& so3, | ||
const LinearVelocity& v, | ||
const Scalar time | ||
) : SGal3(t, so3.quat(), v, time) { | ||
// | ||
} | ||
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template <typename _Scalar> | ||
SGal3<_Scalar>::SGal3( | ||
const Eigen::Transform<_Scalar, 3, Eigen::Isometry>& h, | ||
const LinearVelocity& v, | ||
const Scalar t | ||
) : SGal3(h.translation(), Eigen::Quaternion<_Scalar>(h.rotation()), v, t) { | ||
// | ||
} | ||
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template <typename _Scalar> | ||
typename SGal3<_Scalar>::DataType& | ||
SGal3<_Scalar>::coeffs() { | ||
return data_; | ||
} | ||
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template <typename _Scalar> | ||
const typename SGal3<_Scalar>::DataType& | ||
SGal3<_Scalar>::coeffs() const { | ||
return data_; | ||
} | ||
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} // namespace manif | ||
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#endif // _MANIF_MANIF_SGAL3_H_ |
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#ifndef _MANIF_MANIF_SGAL3TANGENT_H_ | ||
#define _MANIF_MANIF_SGAL3TANGENT_H_ | ||
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#include "manif/impl/sgal3/SGal3Tangent_base.h" | ||
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namespace manif { | ||
namespace internal { | ||
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//! Traits specialization | ||
template <typename _Scalar> | ||
struct traits<SGal3Tangent<_Scalar>> { | ||
using Scalar = _Scalar; | ||
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using LieGroup = SGal3<_Scalar>; | ||
using Tangent = SGal3Tangent<_Scalar>; | ||
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using Base = SGal3TangentBase<Tangent>; | ||
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static constexpr int Dim = LieGroupProperties<Base>::Dim; | ||
static constexpr int DoF = LieGroupProperties<Base>::DoF; | ||
static constexpr int RepSize = DoF; | ||
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using DataType = Eigen::Matrix<Scalar, RepSize, 1>; | ||
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using Jacobian = Eigen::Matrix<Scalar, DoF, DoF>; | ||
using LieAlg = Eigen::Matrix<Scalar, 5, 5>; | ||
}; | ||
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} // namespace internal | ||
} // namespace manif | ||
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namespace manif { | ||
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// | ||
// Tangent | ||
// | ||
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/** | ||
* @brief Represents an element of tangent space of SGal3. | ||
*/ | ||
template <typename _Scalar> | ||
struct SGal3Tangent : SGal3TangentBase<SGal3Tangent<_Scalar>> { | ||
private: | ||
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using Base = SGal3TangentBase<SGal3Tangent<_Scalar>>; | ||
using Type = SGal3Tangent<_Scalar>; | ||
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protected: | ||
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using Base::derived; | ||
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public: | ||
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MANIF_MAKE_ALIGNED_OPERATOR_NEW_COND | ||
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MANIF_TANGENT_TYPEDEF | ||
MANIF_INHERIT_TANGENT_API | ||
MANIF_INHERIT_TANGENT_OPERATOR | ||
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SGal3Tangent() = default; | ||
~SGal3Tangent() = default; | ||
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MANIF_COPY_CONSTRUCTOR(SGal3Tangent) | ||
MANIF_MOVE_CONSTRUCTOR(SGal3Tangent) | ||
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template <typename _DerivedOther> | ||
SGal3Tangent(const TangentBase<_DerivedOther>& o); | ||
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MANIF_TANGENT_ASSIGN_OP(SGal3Tangent) | ||
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// Tangent common API | ||
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DataType& coeffs(); | ||
const DataType& coeffs() const; | ||
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// SGal3Tangent specific API | ||
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protected: | ||
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DataType data_; | ||
}; | ||
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MANIF_EXTRA_TANGENT_TYPEDEF(SGal3Tangent); | ||
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template <typename _Scalar> | ||
template <typename _DerivedOther> | ||
SGal3Tangent<_Scalar>::SGal3Tangent(const TangentBase<_DerivedOther>& o) | ||
: data_(o.coeffs()) { | ||
// | ||
} | ||
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template <typename _Scalar> | ||
typename SGal3Tangent<_Scalar>::DataType& | ||
SGal3Tangent<_Scalar>::coeffs() { | ||
return data_; | ||
} | ||
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template <typename _Scalar> | ||
const typename SGal3Tangent<_Scalar>::DataType& | ||
SGal3Tangent<_Scalar>::coeffs() const { | ||
return data_; | ||
} | ||
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} // namespace manif | ||
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#endif // _MANIF_MANIF_SGAL3TANGENT_H_ |
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