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blender/intern/itasc/kdl/frames.inl
Campbell Barton 51d9bf725d style cleanup
2012-06-10 19:59:02 +00:00

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/***************************************************************************
frames.inl - description
-------------------------
begin : June 2006
copyright : (C) 2006 Erwin Aertbelien
email : firstname.lastname@mech.kuleuven.ac.be
History (only major changes)( AUTHOR-Description ) :
***************************************************************************
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Lesser General Public *
* License as published by the Free Software Foundation; either *
* version 2.1 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
* Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public *
* License along with this library; if not, write to the Free Software *
* Foundation, Inc., 51 Franklin Street, *
* Fifth Floor, Boston, MA 02110-1301, USA. *
* *
***************************************************************************/
IMETHOD Vector::Vector(const Vector & arg)
{
data[0] = arg.data[0];
data[1] = arg.data[1];
data[2] = arg.data[2];
}
IMETHOD Vector::Vector(double x,double y, double z)
{
data[0]=x;data[1]=y;data[2]=z;
}
IMETHOD Vector::Vector(double* xyz)
{
data[0]=xyz[0];data[1]=xyz[1];data[2]=xyz[2];
}
IMETHOD Vector::Vector(float* xyz)
{
data[0]=xyz[0];data[1]=xyz[1];data[2]=xyz[2];
}
IMETHOD void Vector::GetValue(double* xyz) const
{
xyz[0]=data[0];xyz[1]=data[1];xyz[2]=data[2];
}
IMETHOD Vector& Vector::operator =(const Vector & arg)
{
data[0] = arg.data[0];
data[1] = arg.data[1];
data[2] = arg.data[2];
return *this;
}
IMETHOD Vector operator +(const Vector & lhs,const Vector& rhs)
{
Vector tmp;
tmp.data[0] = lhs.data[0]+rhs.data[0];
tmp.data[1] = lhs.data[1]+rhs.data[1];
tmp.data[2] = lhs.data[2]+rhs.data[2];
return tmp;
}
IMETHOD Vector operator -(const Vector & lhs,const Vector& rhs)
{
Vector tmp;
tmp.data[0] = lhs.data[0]-rhs.data[0];
tmp.data[1] = lhs.data[1]-rhs.data[1];
tmp.data[2] = lhs.data[2]-rhs.data[2];
return tmp;
}
IMETHOD double Vector::x() const { return data[0]; }
IMETHOD double Vector::y() const { return data[1]; }
IMETHOD double Vector::z() const { return data[2]; }
IMETHOD void Vector::x( double _x ) { data[0] = _x; }
IMETHOD void Vector::y( double _y ) { data[1] = _y; }
IMETHOD void Vector::z( double _z ) { data[2] = _z; }
Vector operator *(const Vector& lhs,double rhs)
{
Vector tmp;
tmp.data[0] = lhs.data[0]*rhs;
tmp.data[1] = lhs.data[1]*rhs;
tmp.data[2] = lhs.data[2]*rhs;
return tmp;
}
Vector operator *(double lhs,const Vector& rhs)
{
Vector tmp;
tmp.data[0] = lhs*rhs.data[0];
tmp.data[1] = lhs*rhs.data[1];
tmp.data[2] = lhs*rhs.data[2];
return tmp;
}
Vector operator /(const Vector& lhs,double rhs)
{
Vector tmp;
tmp.data[0] = lhs.data[0]/rhs;
tmp.data[1] = lhs.data[1]/rhs;
tmp.data[2] = lhs.data[2]/rhs;
return tmp;
}
Vector operator *(const Vector & lhs,const Vector& rhs)
// Complexity : 6M+3A
{
Vector tmp;
tmp.data[0] = lhs.data[1]*rhs.data[2]-lhs.data[2]*rhs.data[1];
tmp.data[1] = lhs.data[2]*rhs.data[0]-lhs.data[0]*rhs.data[2];
tmp.data[2] = lhs.data[0]*rhs.data[1]-lhs.data[1]*rhs.data[0];
return tmp;
}
Vector& Vector::operator +=(const Vector & arg)
// Complexity : 3A
{
data[0]+=arg.data[0];
data[1]+=arg.data[1];
data[2]+=arg.data[2];
return *this;
}
Vector& Vector::operator -=(const Vector & arg)
// Complexity : 3A
{
data[0]-=arg.data[0];
data[1]-=arg.data[1];
data[2]-=arg.data[2];
return *this;
}
Vector& Vector::operator *=(double arg)
{
data[0] *= arg;
data[1] *= arg;
data[2] *= arg;
return *this;
}
Vector Vector::Zero()
{
return Vector(0,0,0);
}
double Vector::operator()(int index) const {
FRAMES_CHECKI((0<=index)&&(index<=2));
return data[index];
}
double& Vector::operator () (int index)
{
FRAMES_CHECKI((0<=index)&&(index<=2));
return data[index];
}
IMETHOD Vector Normalize(const Vector& a, double eps)
{
double l=a.Norm();
return (l<eps) ? Vector(0.0,0.0,0.0) : a/l;
}
Wrench Frame::operator * (const Wrench& arg) const
// Complexity : 24M+18A
{
Wrench tmp;
tmp.force = M*arg.force;
tmp.torque = M*arg.torque + p*tmp.force;
return tmp;
}
Wrench Frame::Inverse(const Wrench& arg) const
{
Wrench tmp;
tmp.force = M.Inverse(arg.force);
tmp.torque = M.Inverse(arg.torque-p*arg.force);
return tmp;
}
Wrench Rotation::Inverse(const Wrench& arg) const
{
return Wrench(Inverse(arg.force),Inverse(arg.torque));
}
Twist Rotation::Inverse(const Twist& arg) const
{
return Twist(Inverse(arg.vel),Inverse(arg.rot));
}
Wrench Wrench::Zero()
{
return Wrench(Vector::Zero(),Vector::Zero());
}
void Wrench::ReverseSign()
{
torque.ReverseSign();
force.ReverseSign();
}
Wrench Wrench::RefPoint(const Vector& v_base_AB) const
// Changes the reference point of the Wrench.
// The vector v_base_AB is expressed in the same base as the twist
// The vector v_base_AB is a vector from the old point to
// the new point.
{
return Wrench(this->force,
this->torque+this->force*v_base_AB
);
}
Wrench& Wrench::operator-=(const Wrench& arg)
{
torque-=arg.torque;
force -=arg.force;
return *this;
}
Wrench& Wrench::operator+=(const Wrench& arg)
{
torque+=arg.torque;
force +=arg.force;
return *this;
}
double& Wrench::operator()(int i)
{
// assert((0<=i)&&(i<6)); done by underlying routines
if (i<3)
return force(i);
else
return torque(i-3);
}
double Wrench::operator()(int i) const
{
// assert((0<=i)&&(i<6)); done by underlying routines
if (i<3)
return force(i);
else
return torque(i-3);
}
Wrench operator*(const Wrench& lhs,double rhs)
{
return Wrench(lhs.force*rhs,lhs.torque*rhs);
}
Wrench operator*(double lhs,const Wrench& rhs)
{
return Wrench(lhs*rhs.force,lhs*rhs.torque);
}
Wrench operator/(const Wrench& lhs,double rhs)
{
return Wrench(lhs.force/rhs,lhs.torque/rhs);
}
// addition of Wrench's
Wrench operator+(const Wrench& lhs,const Wrench& rhs)
{
return Wrench(lhs.force+rhs.force,lhs.torque+rhs.torque);
}
Wrench operator-(const Wrench& lhs,const Wrench& rhs)
{
return Wrench(lhs.force-rhs.force,lhs.torque-rhs.torque);
}
// unary -
Wrench operator-(const Wrench& arg)
{
return Wrench(-arg.force,-arg.torque);
}
Twist Frame::operator * (const Twist& arg) const
// Complexity : 24M+18A
{
Twist tmp;
tmp.rot = M*arg.rot;
tmp.vel = M*arg.vel+p*tmp.rot;
return tmp;
}
Twist Frame::Inverse(const Twist& arg) const
{
Twist tmp;
tmp.rot = M.Inverse(arg.rot);
tmp.vel = M.Inverse(arg.vel-p*arg.rot);
return tmp;
}
Twist Twist::Zero()
{
return Twist(Vector::Zero(),Vector::Zero());
}
void Twist::ReverseSign()
{
vel.ReverseSign();
rot.ReverseSign();
}
Twist Twist::RefPoint(const Vector& v_base_AB) const
// Changes the reference point of the twist.
// The vector v_base_AB is expressed in the same base as the twist
// The vector v_base_AB is a vector from the old point to
// the new point.
// Complexity : 6M+6A
{
return Twist(this->vel+this->rot*v_base_AB,this->rot);
}
Twist& Twist::operator-=(const Twist& arg)
{
vel-=arg.vel;
rot -=arg.rot;
return *this;
}
Twist& Twist::operator+=(const Twist& arg)
{
vel+=arg.vel;
rot +=arg.rot;
return *this;
}
double& Twist::operator()(int i)
{
// assert((0<=i)&&(i<6)); done by underlying routines
if (i<3)
return vel(i);
else
return rot(i-3);
}
double Twist::operator()(int i) const
{
// assert((0<=i)&&(i<6)); done by underlying routines
if (i<3)
return vel(i);
else
return rot(i-3);
}
Twist operator*(const Twist& lhs,double rhs)
{
return Twist(lhs.vel*rhs,lhs.rot*rhs);
}
Twist operator*(double lhs,const Twist& rhs)
{
return Twist(lhs*rhs.vel,lhs*rhs.rot);
}
Twist operator/(const Twist& lhs,double rhs)
{
return Twist(lhs.vel/rhs,lhs.rot/rhs);
}
// addition of Twist's
Twist operator+(const Twist& lhs,const Twist& rhs)
{
return Twist(lhs.vel+rhs.vel,lhs.rot+rhs.rot);
}
Twist operator-(const Twist& lhs,const Twist& rhs)
{
return Twist(lhs.vel-rhs.vel,lhs.rot-rhs.rot);
}
// unary -
Twist operator-(const Twist& arg)
{
return Twist(-arg.vel,-arg.rot);
}
Frame::Frame(const Rotation & R)
{
M=R;
p=Vector::Zero();
}
Frame::Frame(const Vector & V)
{
M = Rotation::Identity();
p = V;
}
Frame::Frame(const Rotation & R, const Vector & V)
{
M = R;
p = V;
}
Frame operator *(const Frame& lhs,const Frame& rhs)
// Complexity : 36M+36A
{
return Frame(lhs.M*rhs.M,lhs.M*rhs.p+lhs.p);
}
Vector Frame::operator *(const Vector & arg) const
{
return M*arg+p;
}
Vector Frame::Inverse(const Vector& arg) const
{
return M.Inverse(arg-p);
}
Frame Frame::Inverse() const
{
return Frame(M.Inverse(),-M.Inverse(p));
}
Frame& Frame::operator =(const Frame & arg)
{
M = arg.M;
p = arg.p;
return *this;
}
Frame::Frame(const Frame & arg) :
p(arg.p),M(arg.M)
{}
void Vector::ReverseSign()
{
data[0] = -data[0];
data[1] = -data[1];
data[2] = -data[2];
}
Vector operator-(const Vector & arg)
{
Vector tmp;
tmp.data[0]=-arg.data[0];
tmp.data[1]=-arg.data[1];
tmp.data[2]=-arg.data[2];
return tmp;
}
void Vector::Set2DXY(const Vector2& v)
// a 3D vector where the 2D vector v is put in the XY plane
{
data[0]=v(0);
data[1]=v(1);
data[2]=0;
}
void Vector::Set2DYZ(const Vector2& v)
// a 3D vector where the 2D vector v is put in the YZ plane
{
data[1]=v(0);
data[2]=v(1);
data[0]=0;
}
void Vector::Set2DZX(const Vector2& v)
// a 3D vector where the 2D vector v is put in the ZX plane
{
data[2]=v(0);
data[0]=v(1);
data[1]=0;
}
double& Rotation::operator()(int i,int j) {
FRAMES_CHECKI((0<=i)&&(i<=2)&&(0<=j)&&(j<=2));
return data[i*3+j];
}
double Rotation::operator()(int i,int j) const {
FRAMES_CHECKI((0<=i)&&(i<=2)&&(0<=j)&&(j<=2));
return data[i*3+j];
}
Rotation::Rotation( double Xx,double Yx,double Zx,
double Xy,double Yy,double Zy,
double Xz,double Yz,double Zz)
{
data[0] = Xx;data[1]=Yx;data[2]=Zx;
data[3] = Xy;data[4]=Yy;data[5]=Zy;
data[6] = Xz;data[7]=Yz;data[8]=Zz;
}
Rotation::Rotation(const Vector& x,const Vector& y,const Vector& z)
{
data[0] = x.data[0];data[3] = x.data[1];data[6] = x.data[2];
data[1] = y.data[0];data[4] = y.data[1];data[7] = y.data[2];
data[2] = z.data[0];data[5] = z.data[1];data[8] = z.data[2];
}
Rotation& Rotation::operator=(const Rotation& arg) {
int count=9;
while (count--) data[count] = arg.data[count];
return *this;
}
Vector Rotation::operator*(const Vector& v) const {
// Complexity : 9M+6A
return Vector(
data[0]*v.data[0] + data[1]*v.data[1] + data[2]*v.data[2],
data[3]*v.data[0] + data[4]*v.data[1] + data[5]*v.data[2],
data[6]*v.data[0] + data[7]*v.data[1] + data[8]*v.data[2]
);
}
Twist Rotation::operator * (const Twist& arg) const
// Transformation of the base to which the twist is expressed.
// look at Frame*Twist for a transformation that also transforms
// the velocity reference point.
// Complexity : 18M+12A
{
return Twist((*this)*arg.vel,(*this)*arg.rot);
}
Wrench Rotation::operator * (const Wrench& arg) const
// Transformation of the base to which the wrench is expressed.
// look at Frame*Twist for a transformation that also transforms
// the force reference point.
{
return Wrench((*this)*arg.force,(*this)*arg.torque);
}
Rotation Rotation::Identity() {
return Rotation(1,0,0,0,1,0,0,0,1);
}
// *this = *this * ROT(X,angle)
void Rotation::DoRotX(double angle)
{
double cs = cos(angle);
double sn = sin(angle);
double x1,x2,x3;
x1 = cs* (*this)(0,1) + sn* (*this)(0,2);
x2 = cs* (*this)(1,1) + sn* (*this)(1,2);
x3 = cs* (*this)(2,1) + sn* (*this)(2,2);
(*this)(0,2) = -sn* (*this)(0,1) + cs* (*this)(0,2);
(*this)(1,2) = -sn* (*this)(1,1) + cs* (*this)(1,2);
(*this)(2,2) = -sn* (*this)(2,1) + cs* (*this)(2,2);
(*this)(0,1) = x1;
(*this)(1,1) = x2;
(*this)(2,1) = x3;
}
void Rotation::DoRotY(double angle)
{
double cs = cos(angle);
double sn = sin(angle);
double x1,x2,x3;
x1 = cs* (*this)(0,0) - sn* (*this)(0,2);
x2 = cs* (*this)(1,0) - sn* (*this)(1,2);
x3 = cs* (*this)(2,0) - sn* (*this)(2,2);
(*this)(0,2) = sn* (*this)(0,0) + cs* (*this)(0,2);
(*this)(1,2) = sn* (*this)(1,0) + cs* (*this)(1,2);
(*this)(2,2) = sn* (*this)(2,0) + cs* (*this)(2,2);
(*this)(0,0) = x1;
(*this)(1,0) = x2;
(*this)(2,0) = x3;
}
void Rotation::DoRotZ(double angle)
{
double cs = cos(angle);
double sn = sin(angle);
double x1,x2,x3;
x1 = cs* (*this)(0,0) + sn* (*this)(0,1);
x2 = cs* (*this)(1,0) + sn* (*this)(1,1);
x3 = cs* (*this)(2,0) + sn* (*this)(2,1);
(*this)(0,1) = -sn* (*this)(0,0) + cs* (*this)(0,1);
(*this)(1,1) = -sn* (*this)(1,0) + cs* (*this)(1,1);
(*this)(2,1) = -sn* (*this)(2,0) + cs* (*this)(2,1);
(*this)(0,0) = x1;
(*this)(1,0) = x2;
(*this)(2,0) = x3;
}
Rotation Rotation::RotX(double angle) {
double cs=cos(angle);
double sn=sin(angle);
return Rotation(1,0,0,0,cs,-sn,0,sn,cs);
}
Rotation Rotation::RotY(double angle) {
double cs=cos(angle);
double sn=sin(angle);
return Rotation(cs,0,sn,0,1,0,-sn,0,cs);
}
Rotation Rotation::RotZ(double angle) {
double cs=cos(angle);
double sn=sin(angle);
return Rotation(cs,-sn,0,sn,cs,0,0,0,1);
}
void Frame::Integrate(const Twist& t_this,double samplefrequency)
{
double n = t_this.rot.Norm()/samplefrequency;
if (n<epsilon) {
p += M*(t_this.vel/samplefrequency);
} else {
(*this) = (*this) *
Frame ( Rotation::Rot( t_this.rot, n ),
t_this.vel/samplefrequency
);
}
}
Rotation Rotation::Inverse() const
{
Rotation tmp(*this);
tmp.SetInverse();
return tmp;
}
Vector Rotation::Inverse(const Vector& v) const {
return Vector(
data[0]*v.data[0] + data[3]*v.data[1] + data[6]*v.data[2],
data[1]*v.data[0] + data[4]*v.data[1] + data[7]*v.data[2],
data[2]*v.data[0] + data[5]*v.data[1] + data[8]*v.data[2]
);
}
void Rotation::setValue(float* oglmat)
{
data[0] = *oglmat++; data[3] = *oglmat++; data[6] = *oglmat++; oglmat++;
data[1] = *oglmat++; data[4] = *oglmat++; data[7] = *oglmat++; oglmat++;
data[2] = *oglmat++; data[5] = *oglmat++; data[8] = *oglmat;
Ortho();
}
void Rotation::getValue(float* oglmat) const
{
*oglmat++ = (float)data[0]; *oglmat++ = (float)data[3]; *oglmat++ = (float)data[6]; *oglmat++ = 0.f;
*oglmat++ = (float)data[1]; *oglmat++ = (float)data[4]; *oglmat++ = (float)data[7]; *oglmat++ = 0.f;
*oglmat++ = (float)data[2]; *oglmat++ = (float)data[5]; *oglmat++ = (float)data[8]; *oglmat++ = 0.f;
*oglmat++ = 0.f; *oglmat++ = 0.f; *oglmat++ = 0.f; *oglmat = 1.f;
}
void Rotation::SetInverse()
{
double tmp;
tmp = data[1];data[1]=data[3];data[3]=tmp;
tmp = data[2];data[2]=data[6];data[6]=tmp;
tmp = data[5];data[5]=data[7];data[7]=tmp;
}
double Frame::operator()(int i,int j) {
FRAMES_CHECKI((0<=i)&&(i<=3)&&(0<=j)&&(j<=3));
if (i==3) {
if (j==3)
return 1.0;
else
return 0.0;
} else {
if (j==3)
return p(i);
else
return M(i,j);
}
}
double Frame::operator()(int i,int j) const {
FRAMES_CHECKI((0<=i)&&(i<=3)&&(0<=j)&&(j<=3));
if (i==3) {
if (j==3)
return 1;
else
return 0;
} else {
if (j==3)
return p(i);
else
return M(i,j);
}
}
Frame Frame::Identity() {
return Frame(Rotation::Identity(),Vector::Zero());
}
void Frame::setValue(float* oglmat)
{
M.setValue(oglmat);
p.data[0] = oglmat[12];
p.data[1] = oglmat[13];
p.data[2] = oglmat[14];
}
void Frame::getValue(float* oglmat) const
{
M.getValue(oglmat);
oglmat[12] = (float)p.data[0];
oglmat[13] = (float)p.data[1];
oglmat[14] = (float)p.data[2];
}
void Vector::Set2DPlane(const Frame& F_someframe_XY,const Vector2& v_XY)
// a 3D vector where the 2D vector v is put in the XY plane of the frame
// F_someframe_XY.
{
Vector tmp_XY;
tmp_XY.Set2DXY(v_XY);
tmp_XY = F_someframe_XY*(tmp_XY);
}
//============ 2 dimensional version of the frames objects =============
IMETHOD Vector2::Vector2(const Vector2 & arg)
{
data[0] = arg.data[0];
data[1] = arg.data[1];
}
IMETHOD Vector2::Vector2(double x,double y)
{
data[0]=x;data[1]=y;
}
IMETHOD Vector2::Vector2(double* xy)
{
data[0]=xy[0];data[1]=xy[1];
}
IMETHOD Vector2::Vector2(float* xy)
{
data[0]=xy[0];data[1]=xy[1];
}
IMETHOD Vector2& Vector2::operator =(const Vector2 & arg)
{
data[0] = arg.data[0];
data[1] = arg.data[1];
return *this;
}
IMETHOD void Vector2::GetValue(double* xy) const
{
xy[0]=data[0];xy[1]=data[1];
}
IMETHOD Vector2 operator +(const Vector2 & lhs,const Vector2& rhs)
{
return Vector2(lhs.data[0]+rhs.data[0],lhs.data[1]+rhs.data[1]);
}
IMETHOD Vector2 operator -(const Vector2 & lhs,const Vector2& rhs)
{
return Vector2(lhs.data[0]-rhs.data[0],lhs.data[1]-rhs.data[1]);
}
IMETHOD Vector2 operator *(const Vector2& lhs,double rhs)
{
return Vector2(lhs.data[0]*rhs,lhs.data[1]*rhs);
}
IMETHOD Vector2 operator *(double lhs,const Vector2& rhs)
{
return Vector2(lhs*rhs.data[0],lhs*rhs.data[1]);
}
IMETHOD Vector2 operator /(const Vector2& lhs,double rhs)
{
return Vector2(lhs.data[0]/rhs,lhs.data[1]/rhs);
}
IMETHOD Vector2& Vector2::operator +=(const Vector2 & arg)
{
data[0]+=arg.data[0];
data[1]+=arg.data[1];
return *this;
}
IMETHOD Vector2& Vector2::operator -=(const Vector2 & arg)
{
data[0]-=arg.data[0];
data[1]-=arg.data[1];
return *this;
}
IMETHOD Vector2 Vector2::Zero() {
return Vector2(0,0);
}
IMETHOD double Vector2::operator()(int index) const {
FRAMES_CHECKI((0<=index)&&(index<=1));
return data[index];
}
IMETHOD double& Vector2::operator () (int index)
{
FRAMES_CHECKI((0<=index)&&(index<=1));
return data[index];
}
IMETHOD void Vector2::ReverseSign()
{
data[0] = -data[0];
data[1] = -data[1];
}
IMETHOD Vector2 operator-(const Vector2 & arg)
{
return Vector2(-arg.data[0],-arg.data[1]);
}
IMETHOD void Vector2::Set3DXY(const Vector& v)
// projects v in its XY plane, and sets *this to these values
{
data[0]=v(0);
data[1]=v(1);
}
IMETHOD void Vector2::Set3DYZ(const Vector& v)
// projects v in its XY plane, and sets *this to these values
{
data[0]=v(1);
data[1]=v(2);
}
IMETHOD void Vector2::Set3DZX(const Vector& v)
// projects v in its XY plane, and and sets *this to these values
{
data[0]=v(2);
data[1]=v(0);
}
IMETHOD void Vector2::Set3DPlane(const Frame& F_someframe_XY,const Vector& v_someframe)
// projects v in the XY plane of F_someframe_XY, and sets *this to these values
// expressed wrt someframe.
{
Vector tmp = F_someframe_XY.Inverse(v_someframe);
data[0]=tmp(0);
data[1]=tmp(1);
}
IMETHOD Rotation2& Rotation2::operator=(const Rotation2& arg) {
c=arg.c;s=arg.s;
return *this;
}
IMETHOD Vector2 Rotation2::operator*(const Vector2& v) const {
return Vector2(v.data[0]*c-v.data[1]*s,v.data[0]*s+v.data[1]*c);
}
IMETHOD double Rotation2::operator()(int i,int j) const {
FRAMES_CHECKI((0<=i)&&(i<=1)&&(0<=j)&&(j<=1));
if (i==j) return c;
if (i==0)
return s;
else
return -s;
}
IMETHOD Rotation2 operator *(const Rotation2& lhs,const Rotation2& rhs) {
return Rotation2(lhs.c*rhs.c-lhs.s*rhs.s,lhs.s*rhs.c+lhs.c*rhs.s);
}
IMETHOD void Rotation2::SetInverse() {
s=-s;
}
IMETHOD Rotation2 Rotation2::Inverse() const {
return Rotation2(c,-s);
}
IMETHOD Vector2 Rotation2::Inverse(const Vector2& v) const {
return Vector2(v.data[0]*c+v.data[1]*s,-v.data[0]*s+v.data[1]*c);
}
IMETHOD Rotation2 Rotation2::Identity() {
return Rotation2(1,0);
}
IMETHOD void Rotation2::SetIdentity()
{
c = 1;
s = 0;
}
IMETHOD void Rotation2::SetRot(double angle) {
c=cos(angle);s=sin(angle);
}
IMETHOD Rotation2 Rotation2::Rot(double angle) {
return Rotation2(cos(angle),sin(angle));
}
IMETHOD double Rotation2::GetRot() const {
return atan2(s,c);
}
IMETHOD Frame2::Frame2() {
}
IMETHOD Frame2::Frame2(const Rotation2 & R)
{
M=R;
p=Vector2::Zero();
}
IMETHOD Frame2::Frame2(const Vector2 & V)
{
M = Rotation2::Identity();
p = V;
}
IMETHOD Frame2::Frame2(const Rotation2 & R, const Vector2 & V)
{
M = R;
p = V;
}
IMETHOD Frame2 operator *(const Frame2& lhs,const Frame2& rhs)
{
return Frame2(lhs.M*rhs.M,lhs.M*rhs.p+lhs.p);
}
IMETHOD Vector2 Frame2::operator *(const Vector2 & arg)
{
return M*arg+p;
}
IMETHOD Vector2 Frame2::Inverse(const Vector2& arg) const
{
return M.Inverse(arg-p);
}
IMETHOD void Frame2::SetIdentity()
{
M.SetIdentity();
p = Vector2::Zero();
}
IMETHOD void Frame2::SetInverse()
{
M.SetInverse();
p = M*p;
p.ReverseSign();
}
IMETHOD Frame2 Frame2::Inverse() const
{
Frame2 tmp(*this);
tmp.SetInverse();
return tmp;
}
IMETHOD Frame2& Frame2::operator =(const Frame2 & arg)
{
M = arg.M;
p = arg.p;
return *this;
}
IMETHOD Frame2::Frame2(const Frame2 & arg) :
p(arg.p), M(arg.M)
{}
IMETHOD double Frame2::operator()(int i,int j) {
FRAMES_CHECKI((0<=i)&&(i<=2)&&(0<=j)&&(j<=2));
if (i==2) {
if (j==2)
return 1;
else
return 0;
} else {
if (j==2)
return p(i);
else
return M(i,j);
}
}
IMETHOD double Frame2::operator()(int i,int j) const {
FRAMES_CHECKI((0<=i)&&(i<=2)&&(0<=j)&&(j<=2));
if (i==2) {
if (j==2)
return 1;
else
return 0;
} else {
if (j==2)
return p(i);
else
return M(i,j);
}
}
// Scalar products.
IMETHOD double dot(const Vector& lhs,const Vector& rhs) {
return rhs(0)*lhs(0)+rhs(1)*lhs(1)+rhs(2)*lhs(2);
}
IMETHOD double dot(const Twist& lhs,const Wrench& rhs) {
return dot(lhs.vel,rhs.force)+dot(lhs.rot,rhs.torque);
}
IMETHOD double dot(const Wrench& rhs,const Twist& lhs) {
return dot(lhs.vel,rhs.force)+dot(lhs.rot,rhs.torque);
}
// Equality operators
IMETHOD bool Equal(const Vector& a,const Vector& b,double eps) {
return (Equal(a.data[0],b.data[0],eps)&&
Equal(a.data[1],b.data[1],eps)&&
Equal(a.data[2],b.data[2],eps) );
}
IMETHOD bool Equal(const Frame& a,const Frame& b,double eps) {
return (Equal(a.p,b.p,eps)&&
Equal(a.M,b.M,eps) );
}
IMETHOD bool Equal(const Wrench& a,const Wrench& b,double eps) {
return (Equal(a.force,b.force,eps)&&
Equal(a.torque,b.torque,eps) );
}
IMETHOD bool Equal(const Twist& a,const Twist& b,double eps) {
return (Equal(a.rot,b.rot,eps)&&
Equal(a.vel,b.vel,eps) );
}
IMETHOD bool Equal(const Vector2& a,const Vector2& b,double eps) {
return (Equal(a.data[0],b.data[0],eps)&&
Equal(a.data[1],b.data[1],eps) );
}
IMETHOD bool Equal(const Rotation2& a,const Rotation2& b,double eps) {
return ( Equal(a.c,b.c,eps) && Equal(a.s,b.s,eps) );
}
IMETHOD bool Equal(const Frame2& a,const Frame2& b,double eps) {
return (Equal(a.p,b.p,eps)&&
Equal(a.M,b.M,eps) );
}
IMETHOD void SetToZero(Vector& v) {
v=Vector::Zero();
}
IMETHOD void SetToZero(Twist& v) {
SetToZero(v.rot);
SetToZero(v.vel);
}
IMETHOD void SetToZero(Wrench& v) {
SetToZero(v.force);
SetToZero(v.torque);
}
IMETHOD void SetToZero(Vector2& v) {
v = Vector2::Zero();
}
////////////////////////////////////////////////////////////////
// The following defines the operations
// diff
// addDelta
// random
// posrandom
// on all the types defined in this library.
// (mostly for uniform integration, differentiation and testing).
// Defined as functions because double is not a class and a method
// would brake uniformity when defined for a double.
////////////////////////////////////////////////////////////////
/**
* axis_a_b is a rotation vector, its norm is a rotation angle
* axis_a_b rotates the a frame towards the b frame.
* This routine returns the rotation matrix R_a_b
*/
IMETHOD Rotation Rot(const Vector& axis_a_b) {
// The formula is
// V.(V.tr) + st*[V x] + ct*(I-V.(V.tr))
// can be found by multiplying it with an arbitrary vector p
// and noting that this vector is rotated.
Vector rotvec = axis_a_b;
double angle = rotvec.Normalize(1E-10);
double ct = ::cos(angle);
double st = ::sin(angle);
double vt = 1-ct;
return Rotation(
ct + vt*rotvec(0)*rotvec(0),
-rotvec(2)*st + vt*rotvec(0)*rotvec(1),
rotvec(1)*st + vt*rotvec(0)*rotvec(2),
rotvec(2)*st + vt*rotvec(1)*rotvec(0),
ct + vt*rotvec(1)*rotvec(1),
-rotvec(0)*st + vt*rotvec(1)*rotvec(2),
-rotvec(1)*st + vt*rotvec(2)*rotvec(0),
rotvec(0)*st + vt*rotvec(2)*rotvec(1),
ct + vt*rotvec(2)*rotvec(2)
);
}
IMETHOD Vector diff(const Vector& a,const Vector& b,double dt) {
return (b-a)/dt;
}
/**
* \brief diff operator for displacement rotational velocity.
*
* The Vector arguments here represent a displacement rotational velocity. i.e. a rotation
* around a fixed axis for a certain angle. For this representation you cannot use diff() but
* have to use diff_displ().
*
* \TODO represent a displacement twist and displacement rotational velocity with another
* class, instead of Vector and Twist.
* \warning do not confuse displacement rotational velocities and velocities
* \warning do not confuse displacement twist and twist.
*
IMETHOD Vector diff_displ(const Vector& a,const Vector& b,double dt) {
return diff(Rot(a),Rot(b),dt);
}*/
/**
* \brief diff operator for displacement twist.
*
* The Twist arguments here represent a displacement twist. i.e. a rotation
* around a fixed axis for a certain angle. For this representation you cannot use diff() but
* have to use diff_displ().
*
* \warning do not confuse displacement rotational velocities and velocities
* \warning do not confuse displacement twist and twist.
*
IMETHOD Twist diff_displ(const Twist& a,const Twist& b,double dt) {
return Twist(diff(a.vel,b.vel,dt),diff(Rot(a.rot),Rot(b.rot),dt));
}
*/
IMETHOD Vector diff(const Rotation& R_a_b1,const Rotation& R_a_b2,double dt) {
Rotation R_b1_b2(R_a_b1.Inverse()*R_a_b2);
return R_a_b1 * R_b1_b2.GetRot() / dt;
}
IMETHOD Twist diff(const Frame& F_a_b1,const Frame& F_a_b2,double dt) {
return Twist(
diff(F_a_b1.p,F_a_b2.p,dt),
diff(F_a_b1.M,F_a_b2.M,dt)
);
}
IMETHOD Twist diff(const Twist& a,const Twist& b,double dt) {
return Twist(diff(a.vel,b.vel,dt),diff(a.rot,b.rot,dt));
}
IMETHOD Wrench diff(const Wrench& a,const Wrench& b,double dt) {
return Wrench(
diff(a.force,b.force,dt),
diff(a.torque,b.torque,dt)
);
}
IMETHOD Vector addDelta(const Vector& a,const Vector&da,double dt) {
return a+da*dt;
}
IMETHOD Rotation addDelta(const Rotation& a,const Vector&da,double dt) {
return a*Rot(a.Inverse(da)*dt);
}
IMETHOD Frame addDelta(const Frame& a,const Twist& da,double dt) {
return Frame(
addDelta(a.M,da.rot,dt),
addDelta(a.p,da.vel,dt)
);
}
IMETHOD Twist addDelta(const Twist& a,const Twist&da,double dt) {
return Twist(addDelta(a.vel,da.vel,dt),addDelta(a.rot,da.rot,dt));
}
IMETHOD Wrench addDelta(const Wrench& a,const Wrench&da,double dt) {
return Wrench(addDelta(a.force,da.force,dt),addDelta(a.torque,da.torque,dt));
}
/**
* \brief addDelta operator for displacement rotational velocity.
*
* The Vector arguments here represent a displacement rotational velocity. i.e. a rotation
* around a fixed axis for a certain angle. For this representation you cannot use diff() but
* have to use diff_displ().
*
* \param a : displacement rotational velocity
* \param da : rotational velocity
* \return displacement rotational velocity
*
* \warning do not confuse displacement rotational velocities and velocities
* \warning do not confuse displacement twist and twist.
*
IMETHOD Vector addDelta_displ(const Vector& a,const Vector&da,double dt) {
return getRot(addDelta(Rot(a),da,dt));
}*/
/**
* \brief addDelta operator for displacement twist.
*
* The Vector arguments here represent a displacement rotational velocity. i.e. a rotation
* around a fixed axis for a certain angle. For this representation you cannot use diff() but
* have to use diff_displ().
*
* \param a : displacement twist
* \param da : twist
* \return displacement twist
*
* \warning do not confuse displacement rotational velocities and velocities
* \warning do not confuse displacement twist and twist.
*
IMETHOD Twist addDelta_displ(const Twist& a,const Twist&da,double dt) {
return Twist(addDelta(a.vel,da.vel,dt),addDelta_displ(a.rot,da.rot,dt));
}*/
IMETHOD void random(Vector& a) {
random(a[0]);
random(a[1]);
random(a[2]);
}
IMETHOD void random(Twist& a) {
random(a.rot);
random(a.vel);
}
IMETHOD void random(Wrench& a) {
random(a.torque);
random(a.force);
}
IMETHOD void random(Rotation& R) {
double alfa;
double beta;
double gamma;
random(alfa);
random(beta);
random(gamma);
R = Rotation::EulerZYX(alfa,beta,gamma);
}
IMETHOD void random(Frame& F) {
random(F.M);
random(F.p);
}
IMETHOD void posrandom(Vector& a) {
posrandom(a[0]);
posrandom(a[1]);
posrandom(a[2]);
}
IMETHOD void posrandom(Twist& a) {
posrandom(a.rot);
posrandom(a.vel);
}
IMETHOD void posrandom(Wrench& a) {
posrandom(a.torque);
posrandom(a.force);
}
IMETHOD void posrandom(Rotation& R) {
double alfa;
double beta;
double gamma;
posrandom(alfa);
posrandom(beta);
posrandom(gamma);
R = Rotation::EulerZYX(alfa,beta,gamma);
}
IMETHOD void posrandom(Frame& F) {
random(F.M);
random(F.p);
}
IMETHOD bool operator==(const Frame& a,const Frame& b ) {
#ifdef KDL_USE_EQUAL
return Equal(a,b);
#else
return (a.p == b.p &&
a.M == b.M );
#endif
}
IMETHOD bool operator!=(const Frame& a,const Frame& b) {
return !operator==(a,b);
}
IMETHOD bool operator==(const Vector& a,const Vector& b) {
#ifdef KDL_USE_EQUAL
return Equal(a,b);
#else
return (a.data[0]==b.data[0]&&
a.data[1]==b.data[1]&&
a.data[2]==b.data[2] );
#endif
}
IMETHOD bool operator!=(const Vector& a,const Vector& b) {
return !operator==(a,b);
}
IMETHOD bool operator==(const Twist& a,const Twist& b) {
#ifdef KDL_USE_EQUAL
return Equal(a,b);
#else
return (a.rot==b.rot &&
a.vel==b.vel );
#endif
}
IMETHOD bool operator!=(const Twist& a,const Twist& b) {
return !operator==(a,b);
}
IMETHOD bool operator==(const Wrench& a,const Wrench& b ) {
#ifdef KDL_USE_EQUAL
return Equal(a,b);
#else
return (a.force==b.force &&
a.torque==b.torque );
#endif
}
IMETHOD bool operator!=(const Wrench& a,const Wrench& b) {
return !operator==(a,b);
}
IMETHOD bool operator!=(const Rotation& a,const Rotation& b) {
return !operator==(a,b);
}
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