169 lines
3.9 KiB
C++
169 lines
3.9 KiB
C++
// This file is part of Sophus.
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//
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// Copyright 2011 Hauke Strasdat (Imperial College London)
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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#ifndef SOPHUS_SE3_H
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#define SOPHUS_SE3_H
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#include "so3.h"
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namespace Sophus
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{
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using namespace Eigen;
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using namespace std;
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typedef Matrix< double, 6, 1 > Vector6d;
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typedef Matrix< double, 6, 6 > Matrix6d;
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class SE3
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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SE3 ();
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SE3 (const SO3 & so3,
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const Vector3d & translation);
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SE3 (const Matrix3d & rotation_matrix,
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const Vector3d & translation);
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SE3 (const Quaterniond & unit_quaternion,
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const Vector3d & translation_);
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SE3 (const SE3 & other);
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SE3 &
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operator= (const SE3 & other);
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SE3
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operator* (const SE3& other) const;
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SE3&
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operator*= (const SE3& other);
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SE3
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inverse () const;
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Vector6d
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log () const;
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Vector3d
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operator* (const Vector3d & xyz) const;
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static SE3
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exp (const Vector6d & update);
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static Vector6d
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log (const SE3 & se3);
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Matrix<double,4,4>
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matrix () const;
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Matrix<double, 6, 6>
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Adj () const;
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static Matrix4d
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hat (const Vector6d & omega);
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static Vector6d
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vee (const Matrix4d & Omega);
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static Vector6d
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lieBracket (const Vector6d & v1,
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const Vector6d & v2);
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static Matrix6d
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d_lieBracketab_by_d_a (const Vector6d & b);
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void
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setQuaternion (const Quaterniond& quaternion);
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//TODO: remove later
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static SE3 from_SE3(const SE3 & se3)
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{
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return se3;
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}
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//TODO: remove later
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static SE3 to_SE3(const SE3 & se3)
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{
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return se3.to_SE3();
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}
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//TODO: remove later
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SE3 to_SE3() const
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{
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return *this;
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}
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const Vector3d & translation() const
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{
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return translation_;
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}
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Vector3d& translation()
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{
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return translation_;
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}
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const Quaterniond & unit_quaternion() const
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{
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return so3_.unit_quaternion();
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}
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Matrix3d rotation_matrix() const
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{
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return so3_.matrix();
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}
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void setRotationMatrix(const Matrix3d & rotation_matrix)
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{
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so3_.setQuaternion(Quaterniond(rotation_matrix));
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}
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const SO3& so3() const
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{
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return so3_;
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}
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SO3& so3()
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{
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return so3_;
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}
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static const int DoF = 6;
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private:
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SO3 so3_;
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Vector3d translation_;
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};
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inline std::ostream& operator <<(std::ostream & out_str,
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const SE3 & se3)
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{
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out_str << se3.so3() << se3.translation().transpose() << std::endl;
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return out_str;
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}
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} // end namespace
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#endif
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