isometry3d_mappings.h

Go to the documentation of this file.

// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat, G. Grisetti, R. Kümmerle, W. Burgard
// 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.
//
// 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
// HOLDER 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 G2O_ISOMETRY3D_MAPPINGS_H_
#define G2O_ISOMETRY3D_MAPPINGS_H_
 
#include <Eigen/Core>
 
#include "g2o_types_slam3d_api.h"
#include "se3quat.h"
 
namespace g2o {
 
namespace internal {
 
inline Isometry3::ConstLinearPart extractRotation(const Isometry3& A) {
  return A.matrix().topLeftCorner<3, 3>();
}
 
template <typename Derived>
void nearestOrthogonalMatrix(const Eigen::MatrixBase<Derived>& R) {
  Eigen::JacobiSVD<Matrix3> svd(R, Eigen::ComputeFullU | Eigen::ComputeFullV);
  double det = (svd.matrixU() * svd.matrixV().adjoint()).determinant();
  Matrix3 scaledU(svd.matrixU());
  scaledU.col(0) /= det;
  const_cast<Eigen::MatrixBase<Derived>&>(R) =
      scaledU * svd.matrixV().transpose();
}
 
template <typename Derived>
void approximateNearestOrthogonalMatrix(const Eigen::MatrixBase<Derived>& R) {
  Matrix3 E = R.transpose() * R;
  E.diagonal().array() -= 1;
  const_cast<Eigen::MatrixBase<Derived>&>(R) -= 0.5 * R * E;
}
 
G2O_TYPES_SLAM3D_API Quaternion normalized(const Quaternion& q);
G2O_TYPES_SLAM3D_API Quaternion& normalize(Quaternion& q);
 
// functions to handle the rotation part
G2O_TYPES_SLAM3D_API Vector3 toEuler(const Matrix3& R);
G2O_TYPES_SLAM3D_API Matrix3 fromEuler(const Vector3& v);
G2O_TYPES_SLAM3D_API Vector3 toCompactQuaternion(const Matrix3& R);
G2O_TYPES_SLAM3D_API Matrix3 fromCompactQuaternion(const Vector3& v);
 
// functions to handle the toVector of the whole transformations
G2O_TYPES_SLAM3D_API Vector6 toVectorMQT(const Isometry3& t);
G2O_TYPES_SLAM3D_API Vector6 toVectorET(const Isometry3& t);
G2O_TYPES_SLAM3D_API Vector7 toVectorQT(const Isometry3& t);
 
G2O_TYPES_SLAM3D_API Isometry3 fromVectorMQT(const Vector6& v);
G2O_TYPES_SLAM3D_API Isometry3 fromVectorET(const Vector6& v);
G2O_TYPES_SLAM3D_API Isometry3 fromVectorQT(const Vector7& v);
 
G2O_TYPES_SLAM3D_API SE3Quat toSE3Quat(const Isometry3& t);
G2O_TYPES_SLAM3D_API Isometry3 fromSE3Quat(const SE3Quat& t);
 
}  // end namespace internal
}  // end namespace g2o
 
#endif