71 lines
2.6 KiB
C++
71 lines
2.6 KiB
C++
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/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/transform/rigid_transform.h"
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#include <vector>
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace transform {
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namespace {
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Eigen::Vector3d TranslationFromDictionary(
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common::LuaParameterDictionary* dictionary) {
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const std::vector<double> translation = dictionary->GetArrayValuesAsDoubles();
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CHECK_EQ(3, translation.size()) << "Need (x, y, z) for translation.";
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return Eigen::Vector3d(translation[0], translation[1], translation[2]);
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}
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} // namespace
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Eigen::Quaterniond RollPitchYaw(const double roll, const double pitch,
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const double yaw) {
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const Eigen::AngleAxisd roll_angle(roll, Eigen::Vector3d::UnitX());
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const Eigen::AngleAxisd pitch_angle(pitch, Eigen::Vector3d::UnitY());
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const Eigen::AngleAxisd yaw_angle(yaw, Eigen::Vector3d::UnitZ());
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return yaw_angle * pitch_angle * roll_angle;
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}
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transform::Rigid3d FromDictionary(common::LuaParameterDictionary* dictionary) {
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const Eigen::Vector3d translation =
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TranslationFromDictionary(dictionary->GetDictionary("translation").get());
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auto rotation_dictionary = dictionary->GetDictionary("rotation");
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if (rotation_dictionary->HasKey("w")) {
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const Eigen::Quaterniond rotation(rotation_dictionary->GetDouble("w"),
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rotation_dictionary->GetDouble("x"),
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rotation_dictionary->GetDouble("y"),
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rotation_dictionary->GetDouble("z"));
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CHECK_NEAR(rotation.norm(), 1., 1e-9);
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return transform::Rigid3d(translation, rotation);
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} else {
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const std::vector<double> rotation =
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rotation_dictionary->GetArrayValuesAsDoubles();
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CHECK_EQ(3, rotation.size()) << "Need (roll, pitch, yaw) for rotation.";
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return transform::Rigid3d(
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translation, RollPitchYaw(rotation[0], rotation[1], rotation[2]));
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}
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}
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} // namespace transform
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} // namespace cartographer
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