55 lines
2.0 KiB
C++
Executable File
55 lines
2.0 KiB
C++
Executable File
/*
|
|
* Copyright 2017 The Cartographer Authors
|
|
*
|
|
* 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.
|
|
*/
|
|
|
|
#include "cartographer/transform/timestamped_transform.h"
|
|
|
|
#include "cartographer/transform/transform.h"
|
|
|
|
namespace cartographer {
|
|
namespace transform {
|
|
|
|
TimestampedTransform Interpolate(const TimestampedTransform& start,
|
|
const TimestampedTransform& end,
|
|
const common::Time time) {
|
|
CHECK_LE(start.time, time);
|
|
CHECK_GE(end.time, time);
|
|
|
|
const double duration = common::ToSeconds(end.time - start.time);
|
|
const double factor = common::ToSeconds(time - start.time) / duration;
|
|
const Eigen::Vector3d origin =
|
|
start.transform.translation() +
|
|
(end.transform.translation() - start.transform.translation()) * factor;
|
|
const Eigen::Quaterniond rotation =
|
|
Eigen::Quaterniond(start.transform.rotation())
|
|
.slerp(factor, Eigen::Quaterniond(end.transform.rotation()));
|
|
return TimestampedTransform{time, transform::Rigid3d(origin, rotation)};
|
|
}
|
|
|
|
TimestampedTransform FromProto(const proto::TimestampedTransform& proto) {
|
|
return TimestampedTransform{common::FromUniversal(proto.time()),
|
|
ToRigid3(proto.transform())};
|
|
}
|
|
|
|
proto::TimestampedTransform ToProto(const TimestampedTransform& transform) {
|
|
proto::TimestampedTransform proto;
|
|
proto.set_time(common::ToUniversal(transform.time));
|
|
*proto.mutable_transform() = ToProto(transform.transform);
|
|
return proto;
|
|
}
|
|
|
|
} // namespace transform
|
|
} // namespace cartographer
|