SE2d.h

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/*
 * Copyright (c) 2018-2019, CNRS-UM LIRMM
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. 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
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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#pragma once
 
#include <mc_rbdyn/rpy_utils.h>
#include <mc_rtc/Configuration.h>
#include <mc_rtc/constants.h>
 
#include <SpaceVecAlg/SpaceVecAlg>
 
namespace lipm_walking
{
 
namespace utils
{
 
struct SE2d
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  SE2d(double x = 0., double y = 0., double theta = 0.) : x(x), y(y), theta(theta) {}
 
  SE2d(const Eigen::Vector3d & v) : x(v.x()), y(v.y()), theta(v.z()) {}
 
  SE2d(const sva::PTransformd & pose)
  {
    x = pose.translation().x();
    y = pose.translation().y();
    theta = mc_rbdyn::rpyFromMat(pose.rotation()).z();
  }
 
  inline sva::PTransformd operator*(const sva::PTransformd & X_0_a) const
  {
    sva::PTransformd X_a_b = asPTransform();
    return X_a_b * X_0_a;
  }
 
  inline sva::PTransformd asPTransform() const
  {
    return {mc_rbdyn::rpyToMat(0., 0., theta), Eigen::Vector3d{x, y, 0.}};
  }
 
  inline Eigen::Vector2d pos() const
  {
    return {x, y};
  }
 
  inline Eigen::Vector2d ori() const
  {
    return {std::cos(theta), std::sin(theta)};
  }
 
  inline const Eigen::Vector3d vector() const noexcept
  {
    return {x, y, theta};
  }
 
  inline Eigen::Vector3d vectorDegrees() const
  {
    return {x, y, mc_rtc::constants::toDeg(theta)};
  }
 
  // This will be called to load your object from a Configuration object
  static SE2d fromConfiguration(const mc_rtc::Configuration & in)
  {
    SE2d res;
    res.x = in("x", 0);
    res.y = in("y", 0);
    res.theta = in("theta", 0);
    return res;
  }
 
  // This will be called save your object to a Configuration object
  mc_rtc::Configuration toConfiguration(bool toDeg = false) const
  {
    mc_rtc::Configuration res;
    res.add("x", x);
    res.add("y", y);
    if(toDeg)
    {
      res.add("theta", mc_rtc::constants::toDeg(theta));
    }
    else
    {
      res.add("theta", theta);
    }
    return res;
  }
 
public:
  double x; 
  double y; 
  double theta; 
};
 
} // namespace utils
} // namespace lipm_walking
 
inline std::ostream & operator<<(std::ostream & os, const lipm_walking::utils::SE2d & se2d)
{
  os << se2d.x << ", " << se2d.y << ", " << se2d.theta;
  return os;
}