| /* |
| * Copyright (C) 2021 The Android Open Source Project |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| #pragma once |
| |
| #include <optional> |
| #include <vector> |
| #include <Eigen/Geometry> |
| |
| namespace android { |
| namespace media { |
| |
| /** |
| * A 6-DoF pose. |
| * This class represents a proper rigid transformation (translation + rotation) between a reference |
| * frame and a target frame, |
| * |
| * See https://en.wikipedia.org/wiki/Six_degrees_of_freedom |
| */ |
| class Pose3f { |
| public: |
| /** Typical precision for isApprox comparisons. */ |
| static constexpr float kDummyPrecision = 1e-5f; |
| |
| Pose3f(const Eigen::Vector3f& translation, const Eigen::Quaternionf& rotation) |
| : mTranslation(translation), mRotation(rotation) {} |
| |
| explicit Pose3f(const Eigen::Vector3f& translation) |
| : Pose3f(translation, Eigen::Quaternionf::Identity()) {} |
| |
| explicit Pose3f(const Eigen::Quaternionf& rotation) |
| : Pose3f(Eigen::Vector3f::Zero(), rotation) {} |
| |
| Pose3f() : Pose3f(Eigen::Vector3f::Zero(), Eigen::Quaternionf::Identity()) {} |
| |
| Pose3f(const Pose3f& other) { *this = other; } |
| |
| /** |
| * Create instance from a vector-of-floats representation. |
| * The vector is expected to have exactly 6 elements, where the first three are a translation |
| * vector and the last three are a rotation vector. |
| * |
| * Returns nullopt if the input vector is illegal. |
| */ |
| static std::optional<Pose3f> fromVector(const std::vector<float>& vec); |
| |
| /** |
| * Convert instance to a vector-of-floats representation. |
| * The vector will have exactly 6 elements, where the first three are a translation vector and |
| * the last three are a rotation vector. |
| */ |
| std::vector<float> toVector() const; |
| |
| Pose3f& operator=(const Pose3f& other) { |
| mTranslation = other.mTranslation; |
| mRotation = other.mRotation; |
| return *this; |
| } |
| |
| Eigen::Vector3f translation() const { return mTranslation; }; |
| Eigen::Quaternionf rotation() const { return mRotation; }; |
| |
| /** |
| * Reverses the reference and target frames. |
| */ |
| Pose3f inverse() const { |
| Eigen::Quaternionf invRotation = mRotation.inverse(); |
| return Pose3f(-(invRotation * translation()), invRotation); |
| } |
| |
| /** |
| * Composes (chains) together two poses. By convention, this only makes sense if the target |
| * frame of the left-hand pose is the same the reference frame of the right-hand pose. |
| * Note that this operator is not commutative. |
| */ |
| Pose3f operator*(const Pose3f& other) const { |
| Pose3f result = *this; |
| result *= other; |
| return result; |
| } |
| |
| Pose3f& operator*=(const Pose3f& other) { |
| mTranslation += mRotation * other.mTranslation; |
| mRotation *= other.mRotation; |
| return *this; |
| } |
| |
| /** |
| * This is an imprecise "fuzzy" comparison, which is only to be used for validity-testing |
| * purposes. |
| */ |
| bool isApprox(const Pose3f& other, float prec = kDummyPrecision) const { |
| return (mTranslation - other.mTranslation).norm() < prec && |
| // Quaternions are equivalent under sign inversion. |
| ((mRotation.coeffs() - other.mRotation.coeffs()).norm() < prec || |
| (mRotation.coeffs() + other.mRotation.coeffs()).norm() < prec); |
| } |
| |
| private: |
| Eigen::Vector3f mTranslation; |
| Eigen::Quaternionf mRotation; |
| }; |
| |
| /** |
| * Pretty-printer for Pose3f. |
| */ |
| std::ostream& operator<<(std::ostream& os, const Pose3f& pose); |
| |
| /** |
| * Move between the 'from' pose and the 'to' pose, while making sure velocity limits are enforced. |
| * If velocity limits are not violated, returns the 'to' pose and false. |
| * If velocity limits are violated, returns pose farthest along the path that can be reached within |
| * the limits, and true. |
| */ |
| std::tuple<Pose3f, bool> moveWithRateLimit(const Pose3f& from, const Pose3f& to, float t, |
| float maxTranslationalVelocity, |
| float maxRotationalVelocity); |
| |
| } // namespace media |
| } // namespace android |