231 lines
7.6 KiB
C++
231 lines
7.6 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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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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*/
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#ifndef _GAZEBO_MATRIX4_HH_
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#define _GAZEBO_MATRIX4_HH_
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#include <assert.h>
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#include <iostream>
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#include <ignition/math/Matrix4.hh>
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/math/Matrix3.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace math
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{
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class Quaternion;
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class Pose;
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/// \addtogroup gazebo_math
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/// \{
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/// \class Matrix4 Matrix4.hh math/gzmath.hh
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/// \brief A 3x3 matrix class
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class GZ_MATH_VISIBLE Matrix4
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{
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/// \brief Constructor
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public: Matrix4();
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/// \brief Copy constructor
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/// \param _m Matrix to copy
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public: Matrix4(const Matrix4 &_m);
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/// \brief Copy constructor for ignition math
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/// \param _m Matrix to copy
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public: Matrix4(const ignition::math::Matrix4d &_m);
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/// \brief Constructor
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/// \param[in] _v00 Row 0, Col 0 value
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/// \param[in] _v01 Row 0, Col 1 value
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/// \param[in] _v02 Row 0, Col 2 value
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/// \param[in] _v03 Row 0, Col 3 value
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/// \param[in] _v10 Row 1, Col 0 value
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/// \param[in] _v11 Row 1, Col 1 value
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/// \param[in] _v12 Row 1, Col 2 value
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/// \param[in] _v13 Row 1, Col 3 value
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/// \param[in] _v20 Row 2, Col 0 value
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/// \param[in] _v21 Row 2, Col 1 value
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/// \param[in] _v22 Row 2, Col 2 value
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/// \param[in] _v23 Row 2, Col 3 value
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/// \param[in] _v30 Row 3, Col 0 value
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/// \param[in] _v31 Row 3, Col 1 value
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/// \param[in] _v32 Row 3, Col 2 value
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/// \param[in] _v33 Row 3, Col 3 value
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public: Matrix4(double _v00, double _v01, double _v02, double _v03,
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double _v10, double _v11, double _v12, double _v13,
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double _v20, double _v21, double _v22, double _v23,
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double _v30, double _v31, double _v32, double _v33);
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/// \brief Destructor
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public: virtual ~Matrix4();
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/// \brief Change the values
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/// \param[in] _v00 Row 0, Col 0 value
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/// \param[in] _v01 Row 0, Col 1 value
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/// \param[in] _v02 Row 0, Col 2 value
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/// \param[in] _v03 Row 0, Col 3 value
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/// \param[in] _v10 Row 1, Col 0 value
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/// \param[in] _v11 Row 1, Col 1 value
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/// \param[in] _v12 Row 1, Col 2 value
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/// \param[in] _v13 Row 1, Col 3 value
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/// \param[in] _v20 Row 2, Col 0 value
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/// \param[in] _v21 Row 2, Col 1 value
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/// \param[in] _v22 Row 2, Col 2 value
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/// \param[in] _v23 Row 2, Col 3 value
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/// \param[in] _v30 Row 3, Col 0 value
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/// \param[in] _v31 Row 3, Col 1 value
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/// \param[in] _v32 Row 3, Col 2 value
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/// \param[in] _v33 Row 3, Col 3 value
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public: void Set(double _v00, double _v01, double _v02, double _v03,
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double _v10, double _v11, double _v12, double _v13,
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double _v20, double _v21, double _v22, double _v23,
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double _v30, double _v31, double _v32, double _v33);
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/// \brief Set the translational values [ (0, 3) (1, 3) (2, 3) ]
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/// \param[in] _t Values to set
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public: void SetTranslate(const Vector3 &_t);
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/// \brief Get the translational values as a Vector3
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/// \return x,y,z
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public: Vector3 GetTranslation() const;
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/// \brief Get the rotation as a quaternion
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/// \return the rotation
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public: Quaternion GetRotation() const;
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/// \brief Get the rotation as a Euler angles
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/// \return the rotation
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public: Vector3 GetEulerRotation(unsigned int solution_number = 1) const;
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/// \brief Get the transformation as math::Pose
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/// \return the pose
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public: math::Pose GetAsPose() const;
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/// \brief Set the scale
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/// \param[in] _s scale
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public: void SetScale(const Vector3 &_s);
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/// \brief Return true if the matrix is affine
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/// \return true if the matrix is affine, false otherwise
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public: bool IsAffine() const;
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/// \brief Perform an affine transformation
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/// \param _v Vector3 value for the transformation
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/// \return The result of the transformation
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public: Vector3 TransformAffine(const Vector3 &_v) const;
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/// \brief Return the inverse matrix
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/// \return Inverse of this matrix.
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public: Matrix4 Inverse() const;
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/// \brief Equal operator. this = _mat
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/// \param _mat Incoming matrix
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/// \return itself
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public: Matrix4 &operator =(const Matrix4 &_mat);
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/// \brief Equal operator for ignition math
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/// \param _mat Incoming matrix
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/// \return itself
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public: Matrix4 &operator=(const ignition::math::Matrix4d &_mat);
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/// \brief Equal operator for 3x3 matrix
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/// \param _mat Incoming matrix
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/// \return itself
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public: const Matrix4 & operator =(const Matrix3 &_mat);
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/// \brief Multiplication operator
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/// \param _mat Incoming matrix
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/// \return This matrix * _mat
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public: Matrix4 operator*(const Matrix4 &_mat) const;
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/// \brief Multiplication operator
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/// \param _mat Incoming matrix
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/// \return This matrix * _mat
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public: Matrix4 operator*(const Matrix3 &_mat) const;
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/// \brief Multiplication operator
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/// \param _vec Vector3
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/// \return Resulting vector from multiplication
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public: Vector3 operator*(const Vector3 &_vec) const;
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/// \brief Array subscript operator
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/// \param[in] _row the row index
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/// \return the row
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public: inline double *operator[](size_t _row)
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{
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assert(_row < 4);
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return this->m[_row];
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}
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/// \param[in] _row the row index
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/// \return the row
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public: inline const double *operator[](size_t _row) const
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{
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assert(_row < 4);
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return this->m[_row];
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}
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/// \brief Equality operator
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/// \param[in] _m Matrix3 to test
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/// \return true if the 2 matrices are equal (using the tolerance 1e-6),
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/// false otherwise
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public: bool operator==(const Matrix4 &_m) const;
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/// \brief Convert this matrix to an ignition::math::Matrix4d.
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/// \return This matrix as an ignition::math::Matrix4d.
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public: ignition::math::Matrix4d Ign() const;
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/// \brief Stream insertion operator
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/// \param _out output stream
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/// \param _m Matrix to output
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/// \return the stream
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public: friend std::ostream &operator<<(std::ostream &_out,
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const gazebo::math::Matrix4 &_m)
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{
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for (int i = 0; i < 4; i++)
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{
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for (int j = 0; j < 4; j++)
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{
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_out << (fabs(_m.m[i][j]) < 1e-6 ? 0 : _m.m[i][j]) << " ";
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}
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_out << "\n";
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}
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return _out;
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}
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/// \brief Identity matrix
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public: static const Matrix4 IDENTITY;
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/// \brief Zero matrix
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public: static const Matrix4 ZERO;
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/// \brief The 4x4 matrix
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protected: double m[4][4];
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};
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/// \}
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}
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}
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#endif
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