85 lines
2.9 KiB
C++
85 lines
2.9 KiB
C++
/*
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* Copyright (C) 2021 The Android Open Source Project
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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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#include <android-base/stringprintf.h>
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#include "media/Pose.h"
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#include "media/QuaternionUtil.h"
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#include "media/Twist.h"
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namespace android {
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namespace media {
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using android::base::StringAppendF;
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using Eigen::Vector3f;
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std::optional<Pose3f> Pose3f::fromVector(const std::vector<float>& vec) {
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if (vec.size() != 6) {
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return std::nullopt;
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}
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return Pose3f({vec[0], vec[1], vec[2]}, rotationVectorToQuaternion({vec[3], vec[4], vec[5]}));
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}
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std::vector<float> Pose3f::toVector() const {
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Eigen::Vector3f rot = quaternionToRotationVector(mRotation);
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return {mTranslation[0], mTranslation[1], mTranslation[2], rot[0], rot[1], rot[2]};
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}
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std::string Pose3f::toString() const {
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const auto& vec = this->toVector();
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std::string ss = "[";
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for (auto f = vec.begin(); f != vec.end(); ++f) {
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if (f != vec.begin()) {
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ss.append(", ");
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}
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StringAppendF(&ss, "%0.2f", *f);
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}
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ss.append("]");
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return ss;
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}
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std::tuple<Pose3f, bool> moveWithRateLimit(const Pose3f& from, const Pose3f& to, float t,
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float maxTranslationalVelocity,
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float maxRotationalVelocity) {
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// Never rate limit if both limits are set to infinity.
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if (isinf(maxTranslationalVelocity) && isinf(maxRotationalVelocity)) {
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return {to, false};
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}
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// Always rate limit if t is 0 (required to avoid division by 0).
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if (t == 0 || maxTranslationalVelocity == 0 || maxRotationalVelocity == 0) {
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return {from, true};
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}
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Pose3f fromToTo = from.inverse() * to;
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Twist3f twist = differentiate(fromToTo, t);
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float angularRotationalRatio = twist.scalarRotationalVelocity() / maxRotationalVelocity;
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float translationalVelocityRatio =
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twist.scalarTranslationalVelocity() / maxTranslationalVelocity;
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float maxRatio = std::max(angularRotationalRatio, translationalVelocityRatio);
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if (maxRatio <= 1) {
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return {to, false};
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}
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return {from * integrate(twist, t / maxRatio), true};
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}
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std::ostream& operator<<(std::ostream& os, const Pose3f& pose) {
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os << "translation: " << pose.translation().transpose()
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<< " quaternion: " << pose.rotation().coeffs().transpose();
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return os;
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}
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} // namespace media
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} // namespace android
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