81 lines
2.0 KiB
C++
81 lines
2.0 KiB
C++
#pragma once
|
|
|
|
#include <eigen3/Eigen/Dense>
|
|
|
|
namespace oh_my_loam {
|
|
|
|
class Pose3D {
|
|
public:
|
|
Pose3D() {
|
|
q_.setIdentity();
|
|
p_.setZero();
|
|
};
|
|
|
|
Pose3D(const Eigen::Quaterniond& q, const Eigen::Vector3d& p)
|
|
: q_(q), p_(p) {}
|
|
|
|
Pose3D(const Eigen::Matrix3d& r_mat, const Eigen::Vector3d& p)
|
|
: q_(r_mat), p_(p) {}
|
|
|
|
Pose3D(const double* const q, const double* const p) : q_(q), p_(p) {}
|
|
|
|
Pose3D Inv() const {
|
|
Eigen::Quaterniond q_inv = q_.inverse();
|
|
Eigen::Vector3d p_inv = q_inv * p_;
|
|
return {q_inv, -p_inv};
|
|
}
|
|
|
|
Eigen::Vector3d Transform(const Eigen::Vector3d& vec) const {
|
|
return q_ * vec + p_;
|
|
}
|
|
|
|
Eigen::Vector3d operator*(const Eigen::Vector3d& vec) const {
|
|
return Transform(vec);
|
|
}
|
|
|
|
template <typename PointT>
|
|
PointT Transform(const PointT& pt) const {
|
|
PointT pt_n = pt;
|
|
Eigen::Vector3d vec = Transform(Eigen::Vector3d(pt.x, pt.y, pt.z));
|
|
pt_n.x = static_cast<float>(vec.x());
|
|
pt_n.y = static_cast<float>(vec.y());
|
|
pt_n.z = static_cast<float>(vec.z());
|
|
return pt_n;
|
|
}
|
|
|
|
template <typename PointT>
|
|
PointT operator*(const PointT& vec) const {
|
|
return Transform<PointT>(vec);
|
|
}
|
|
|
|
Eigen::Vector3d Translate(const Eigen::Vector3d& vec) const {
|
|
return vec + p_;
|
|
}
|
|
|
|
Eigen::Vector3d Rotate(const Eigen::Vector3d& vec) const { return q_ * vec; }
|
|
|
|
// Spherical linear interpolation to `pose_to`, `t` belongs [0, 1]
|
|
Pose3D Interpolate(const Pose3D& pose_to, double t) const {
|
|
Eigen::Quaterniond q_interp = q_.slerp(t, pose_to.q_);
|
|
Eigen::Vector3d p_interp = (pose_to.p_ - p_) * t + p_;
|
|
return {q_interp, p_interp};
|
|
}
|
|
|
|
std::string ToString() const;
|
|
|
|
Eigen::Quaterniond q() const { return q_; }
|
|
Eigen::Vector3d p() const { return p_; }
|
|
|
|
protected:
|
|
Eigen::Quaterniond q_; // orientation
|
|
Eigen::Vector3d p_; // position
|
|
};
|
|
|
|
Pose3D Interpolate(const Pose3D& pose_from, const Pose3D& pose_to, double t);
|
|
|
|
Pose3D operator*(const Pose3D& lhs, const Pose3D& rhs);
|
|
|
|
using Trans3D = Pose3D;
|
|
|
|
} // namespace oh_my_loam
|