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transform.h

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef FCL_TRANSFORM_H
#define FCL_TRANSFORM_H

#include "fcl/math/matrix_3f.h"
#include <boost/thread/mutex.hpp>

namespace fcl
{

class Quaternion3f
{
public:
  Quaternion3f()
  {
    data[0] = 1;
    data[1] = 0;
    data[2] = 0;
    data[3] = 0;
  }

  Quaternion3f(FCL_REAL a, FCL_REAL b, FCL_REAL c, FCL_REAL d)
  {
    data[0] = a;
    data[1] = b;
    data[2] = c;
    data[3] = d;
  }

  bool isIdentity() const
  {
    return (data[0] == 1) && (data[1] == 0) && (data[2] == 0) && (data[3] == 0);
  }

  void fromRotation(const Matrix3f& R);

  void toRotation(Matrix3f& R) const;

  void fromAxes(const Vec3f axis[3]);

  void toAxes(Vec3f axis[3]) const;

  void fromAxisAngle(const Vec3f& axis, FCL_REAL angle);

  void toAxisAngle(Vec3f& axis, FCL_REAL& angle) const;

  FCL_REAL dot(const Quaternion3f& other) const;

  Quaternion3f operator + (const Quaternion3f& other) const;
  const Quaternion3f& operator += (const Quaternion3f& other);

  Quaternion3f operator - (const Quaternion3f& other) const;
  const Quaternion3f& operator -= (const Quaternion3f& other);

  Quaternion3f operator * (const Quaternion3f& other) const;
  const Quaternion3f& operator *= (const Quaternion3f& other);

  Quaternion3f operator - () const;

  Quaternion3f operator * (FCL_REAL t) const;
  const Quaternion3f& operator *= (FCL_REAL t);

  Quaternion3f& conj();

  Quaternion3f& inverse();

  Vec3f transform(const Vec3f& v) const;

  inline const FCL_REAL& getW() const { return data[0]; }
  inline const FCL_REAL& getX() const { return data[1]; }
  inline const FCL_REAL& getY() const { return data[2]; }
  inline const FCL_REAL& getZ() const { return data[3]; }

  inline FCL_REAL& getW() { return data[0]; }
  inline FCL_REAL& getX() { return data[1]; }
  inline FCL_REAL& getY() { return data[2]; }
  inline FCL_REAL& getZ() { return data[3]; }

private:

  FCL_REAL data[4];
};

Quaternion3f conj(const Quaternion3f& q);

Quaternion3f inverse(const Quaternion3f& q);

class Transform3f
{
  boost::mutex lock_;

  mutable bool matrix_set;
  mutable Matrix3f R;

  Vec3f T;

  Quaternion3f q;

  const Matrix3f& getRotationInternal() const;
public:

  Transform3f()
  {
    setIdentity(); // set matrix_set true
  }

  Transform3f(const Matrix3f& R_, const Vec3f& T_) : matrix_set(true),
                                                     R(R_),
                                                     T(T_)
  {
    q.fromRotation(R_);
  }

  Transform3f(const Quaternion3f& q_, const Vec3f& T_) : matrix_set(false),
                                                         T(T_),
                                                         q(q_)
  {
  }

  Transform3f(const Matrix3f& R_) : matrix_set(true), 
                                    R(R_)
  {
    q.fromRotation(R_);
  }

  Transform3f(const Quaternion3f& q_) : matrix_set(false),
                                        q(q_)
  {
  }

  Transform3f(const Vec3f& T_) : matrix_set(true), 
                                 T(T_)
  {
    R.setIdentity();
  }

  Transform3f(const Transform3f& tf) : matrix_set(tf.matrix_set),
                                       R(tf.R),
                                       T(tf.T),
                                       q(tf.q)
  {
  }

  Transform3f& operator = (const Transform3f& tf)
  {
    matrix_set = tf.matrix_set;
    R = tf.R;
    q = tf.q;
    T = tf.T;
    return *this;
  }

  inline const Vec3f& getTranslation() const
  {
    return T;
  }

  inline const Matrix3f& getRotation() const
  {
    if(matrix_set) return R;
    return getRotationInternal();
  }

  inline const Quaternion3f& getQuatRotation() const
  {
    return q;
  }

  inline void setTransform(const Matrix3f& R_, const Vec3f& T_)
  {
    R = R_;
    T = T_;
    matrix_set = true;
    q.fromRotation(R_);
  }

  inline void setTransform(const Quaternion3f& q_, const Vec3f& T_)
  {
    matrix_set = false;
    q = q_;
    T = T_;
  }

  inline void setRotation(const Matrix3f& R_)
  {
    R = R_;
    matrix_set = true;
    q.fromRotation(R_);
  }

  inline void setTranslation(const Vec3f& T_)
  {
    T = T_;
  }

  inline void setQuatRotation(const Quaternion3f& q_)
  {
    matrix_set = false;
    q = q_;
  }

  inline Vec3f transform(const Vec3f& v) const
  {
    return q.transform(v) + T;
  }

  inline Transform3f& inverse()
  {
    matrix_set = false;
    q.conj();
    T = q.transform(-T);
    return *this;
  }

  inline Transform3f inverseTimes(const Transform3f& other) const
  {
    const Quaternion3f& q_inv = fcl::conj(q);
    return Transform3f(q_inv * other.q, q_inv.transform(other.T - T));
  }

  inline const Transform3f& operator *= (const Transform3f& other)
  {
    matrix_set = false;
    T = q.transform(other.T) + T;
    q *= other.q;
    return *this;
  }

  inline Transform3f operator * (const Transform3f& other) const
  {
    Quaternion3f q_new = q * other.q;
    return Transform3f(q_new, q.transform(other.T) + T);
  }

  inline bool isIdentity() const
  {
    return q.isIdentity() && T.isZero();
  }

  inline void setIdentity()
  {
    R.setIdentity();
    T.setValue(0);
    q = Quaternion3f();
    matrix_set = true;
  }

};

Transform3f inverse(const Transform3f& tf);

void relativeTransform(const Transform3f& tf1, const Transform3f& tf2,
                       Transform3f& tf);

}

#endif

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Willow Garage
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