include/octomap/math/Pose6D.h

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// $Id: Pose6D.h 371 2012-05-02 15:52:02Z ahornung $

/*
 * Copyright (c) 2009, K. M. Wurm, A. Hornung, University of Freiburg
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the University of Freiburg 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"
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#ifndef OCTOMATH_POSE6D_H
#define OCTOMATH_POSE6D_H

#include "Vector3.h"
#include "Quaternion.h"

namespace octomath {

  class Pose6D {
  public:

    Pose6D();
    ~Pose6D();

    Pose6D(const Vector3& trans, const Quaternion& rot);

    Pose6D(float x, float y, float z, double roll, double pitch, double yaw);

    Pose6D& operator= (const Pose6D& other);
    bool operator==(const Pose6D& other) const;
    bool operator!=(const Pose6D& other) const;

    inline Vector3& trans() { return translation; }
    inline Quaternion& rot() { return rotation; }
    const Vector3& trans() const { return translation; }
    const Quaternion& rot() const { return rotation; }


    inline float& x() { return translation(0); }
    inline float& y() { return translation(1); }
    inline float& z() { return translation(2); }
    inline const float& x() const { return translation(0); }
    inline const float& y() const { return translation(1); }
    inline const float& z() const { return translation(2); }

    inline double roll()  const {return (rotation.toEuler())(0); }
    inline double pitch() const {return (rotation.toEuler())(1); }
    inline double yaw()   const {return (rotation.toEuler())(2); }

    Vector3 transform (const Vector3 &v) const;

    Pose6D inv() const;

    Pose6D& inv_IP();

    Pose6D operator* (const Pose6D &p) const;
    const Pose6D& operator*= (const Pose6D &p);

    double distance(const Pose6D &other) const;

    double transLength() const;

    std::ostream& write(std::ostream &s) const;
    std::istream& read(std::istream &s);
    std::ostream& writeBinary(std::ostream &s) const;
    std::istream& readBinary(std::istream &s);

  protected:
    Vector3 translation;
    Quaternion rotation;
  };

  std::ostream& operator<<(std::ostream& s, const Pose6D& p);

}

#endif