Transformation.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  Created on: Dec 2, 2014
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_TRANSFORMATION_HPP_
#define INCLUDE_OKVIS_TRANSFORMATION_HPP_

#include <stdint.h>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "okvis/kinematics/operators.hpp"

namespace okvis {

namespace kinematics {

double sinc(double x);

Eigen::Quaterniond deltaQ(const Eigen::Vector3d& dAlpha);

Eigen::Matrix3d rightJacobian(const Eigen::Vector3d & PhiVec);

class Transformation
{
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  Transformation();

  Transformation(const Transformation & other);

  Transformation(Transformation && other);

  Transformation(const Eigen::Vector3d & r_AB, const Eigen::Quaterniond& q_AB);

  explicit Transformation(const Eigen::Matrix4d & T_AB);

  ~Transformation();

  template<typename Derived_coeffs>
  bool setCoeffs(const Eigen::MatrixBase<Derived_coeffs> & coeffs);

  template<typename Derived_coeffs>
  bool setParameters(const Eigen::MatrixBase<Derived_coeffs> & parameters)
  {
    return setCoeffs(parameters);
  }

  Eigen::Matrix4d T() const;

  const Eigen::Matrix3d & C() const;

  const Eigen::Map<Eigen::Vector3d> & r() const;

  const Eigen::Map<Eigen::Quaterniond> & q() const;

  Eigen::Matrix<double, 3, 4> T3x4() const;

  const Eigen::Matrix<double, 7, 1> & coeffs() const
  {
    return parameters_;
  }

  const Eigen::Matrix<double, 7, 1> & parameters() const
  {
    return parameters_;
  }

  const double* parameterPtr() const
  {
    return &parameters_[0];
  }

  void setRandom();
  void setRandom(double translationMaxMeters, double rotationMaxRadians);

  void set(const Eigen::Matrix4d & T_AB);

  void set(const Eigen::Vector3d & r_AB, const Eigen::Quaternion<double>& q_AB);

  void setIdentity();

  static Transformation Identity();

  Transformation inverse() const;

  // operator* (group operator)
  Transformation operator*(const Transformation & rhs) const;

  Eigen::Vector3d operator*(const Eigen::Vector3d & rhs) const;

  Eigen::Vector4d operator*(const Eigen::Vector4d & rhs) const;

  Transformation& operator=(const Transformation & rhs);

  template<typename Derived_delta>
  bool oplus(const Eigen::MatrixBase<Derived_delta> & delta);

  template<typename Derived_delta, typename Derived_jacobian>
  bool oplus(const Eigen::MatrixBase<Derived_delta> & delta,
             const Eigen::MatrixBase<Derived_jacobian> & jacobian);

  template<typename Derived_jacobian>
  bool oplusJacobian(
      const Eigen::MatrixBase<Derived_jacobian> & jacobian) const;

  // @param[out] jacobian The output lift Jacobian (6 by 7 matrix).
  template<typename Derived_jacobian>
  bool liftJacobian(const Eigen::MatrixBase<Derived_jacobian> & jacobian) const;

 protected:
  void updateC();
  Eigen::Matrix<double, 7, 1> parameters_;  
  Eigen::Map<Eigen::Vector3d> r_;  
  Eigen::Map<Eigen::Quaterniond> q_;  
  Eigen::Matrix3d C_; 
};

}  // namespace kinematics
}  // namespace okvis

#include "implementation/Transformation.hpp"

#endif /* INCLUDE_OKVIS_TRANSFORMATION_HPP_ */