105 lines
2.6 KiB
C++
105 lines
2.6 KiB
C++
#ifndef SOPHUS_INTERPOLATE_DETAILS_HPP
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#define SOPHUS_INTERPOLATE_DETAILS_HPP
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#include "rxso2.hpp"
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#include "rxso3.hpp"
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#include "se2.hpp"
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#include "se3.hpp"
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#include "sim2.hpp"
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#include "sim3.hpp"
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#include "so2.hpp"
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#include "so3.hpp"
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namespace Sophus {
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namespace interp_details {
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template <class Group>
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struct Traits;
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template <class Scalar>
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struct Traits<SO2<Scalar>> {
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static bool constexpr supported = true;
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static bool hasShortestPathAmbiguity(SO2<Scalar> const& foo_T_bar) {
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using std::abs;
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Scalar angle = foo_T_bar.log();
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return abs(abs(angle) - Constants<Scalar>::pi()) <
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Constants<Scalar>::epsilon();
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}
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};
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template <class Scalar>
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struct Traits<RxSO2<Scalar>> {
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static bool constexpr supported = true;
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static bool hasShortestPathAmbiguity(RxSO2<Scalar> const& foo_T_bar) {
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return Traits<SO2<Scalar>>::hasShortestPathAmbiguity(foo_T_bar.so2());
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}
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};
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template <class Scalar>
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struct Traits<SO3<Scalar>> {
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static bool constexpr supported = true;
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static bool hasShortestPathAmbiguity(SO3<Scalar> const& foo_T_bar) {
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using std::abs;
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Scalar angle = foo_T_bar.logAndTheta().theta;
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return abs(abs(angle) - Constants<Scalar>::pi()) <
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Constants<Scalar>::epsilon();
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}
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};
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template <class Scalar>
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struct Traits<RxSO3<Scalar>> {
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static bool constexpr supported = true;
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static bool hasShortestPathAmbiguity(RxSO3<Scalar> const& foo_T_bar) {
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return Traits<SO3<Scalar>>::hasShortestPathAmbiguity(foo_T_bar.so3());
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}
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};
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template <class Scalar>
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struct Traits<SE2<Scalar>> {
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static bool constexpr supported = true;
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static bool hasShortestPathAmbiguity(SE2<Scalar> const& foo_T_bar) {
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return Traits<SO2<Scalar>>::hasShortestPathAmbiguity(foo_T_bar.so2());
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}
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};
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template <class Scalar>
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struct Traits<SE3<Scalar>> {
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static bool constexpr supported = true;
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static bool hasShortestPathAmbiguity(SE3<Scalar> const& foo_T_bar) {
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return Traits<SO3<Scalar>>::hasShortestPathAmbiguity(foo_T_bar.so3());
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}
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};
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template <class Scalar>
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struct Traits<Sim2<Scalar>> {
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static bool constexpr supported = true;
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static bool hasShortestPathAmbiguity(Sim2<Scalar> const& foo_T_bar) {
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return Traits<SO2<Scalar>>::hasShortestPathAmbiguity(
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foo_T_bar.rxso2().so2());
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;
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}
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};
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template <class Scalar>
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struct Traits<Sim3<Scalar>> {
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static bool constexpr supported = true;
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static bool hasShortestPathAmbiguity(Sim3<Scalar> const& foo_T_bar) {
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return Traits<SO3<Scalar>>::hasShortestPathAmbiguity(
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foo_T_bar.rxso3().so3());
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;
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}
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};
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} // namespace interp_details
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} // namespace Sophus
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#endif // SOPHUS_INTERPOLATE_DETAILS_HPP
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