mirror of
https://github.com/wpilibsuite/allwpilib
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302 lines
9.3 KiB
C++
302 lines
9.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <algorithm>
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#include <initializer_list>
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#include <span>
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#include <utility>
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#include <gcem.hpp>
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#include "wpi/math/geometry/Rotation2d.hpp"
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#include "wpi/math/geometry/Translation2d.hpp"
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#include "wpi/units/length.hpp"
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#include "wpi/util/SymbolExports.hpp"
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namespace wpi::util {
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class json;
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} // namespace wpi::util
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namespace wpi::math {
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class Transform2d;
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/**
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* Represents a 2D pose containing translational and rotational elements.
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*/
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class WPILIB_DLLEXPORT Pose2d {
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public:
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/**
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* Constructs a pose at the origin facing toward the positive X axis.
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*/
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constexpr Pose2d() = default;
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/**
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* Constructs a pose with the specified translation and rotation.
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*
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* @param translation The translational component of the pose.
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* @param rotation The rotational component of the pose.
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*/
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constexpr Pose2d(Translation2d translation, Rotation2d rotation)
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: m_translation{std::move(translation)},
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m_rotation{std::move(rotation)} {}
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/**
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* Constructs a pose with x and y translations instead of a separate
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* Translation2d.
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*
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* @param x The x component of the translational component of the pose.
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* @param y The y component of the translational component of the pose.
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* @param rotation The rotational component of the pose.
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*/
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constexpr Pose2d(wpi::units::meter_t x, wpi::units::meter_t y,
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Rotation2d rotation)
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: m_translation{x, y}, m_rotation{std::move(rotation)} {}
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/**
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* Constructs a pose with the specified affine transformation matrix.
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*
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* @param matrix The affine transformation matrix.
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* @throws std::domain_error if the affine transformation matrix is invalid.
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*/
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constexpr explicit Pose2d(const Eigen::Matrix3d& matrix)
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: m_translation{Eigen::Vector2d{{matrix(0, 2)}, {matrix(1, 2)}}},
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m_rotation{Eigen::Matrix2d{{matrix(0, 0), matrix(0, 1)},
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{matrix(1, 0), matrix(1, 1)}}} {
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if (matrix(2, 0) != 0.0 || matrix(2, 1) != 0.0 || matrix(2, 2) != 1.0) {
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throw std::domain_error("Affine transformation matrix is invalid");
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}
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}
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/**
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* Transforms the pose by the given transformation and returns the new
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* transformed pose.
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*
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* <pre>
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* [x_new] [cos, -sin, 0][transform.x]
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* [y_new] += [sin, cos, 0][transform.y]
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* [t_new] [ 0, 0, 1][transform.t]
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* </pre>
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*
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* @param other The transform to transform the pose by.
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*
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* @return The transformed pose.
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*/
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constexpr Pose2d operator+(const Transform2d& other) const {
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return TransformBy(other);
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}
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/**
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* Returns the Transform2d that maps the one pose to another.
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*
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* @param other The initial pose of the transformation.
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* @return The transform that maps the other pose to the current pose.
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*/
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constexpr Transform2d operator-(const Pose2d& other) const;
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/**
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* Checks equality between this Pose2d and another object.
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*/
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constexpr bool operator==(const Pose2d&) const = default;
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/**
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* Returns the underlying translation.
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*
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* @return Reference to the translational component of the pose.
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*/
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constexpr const Translation2d& Translation() const { return m_translation; }
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/**
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* Returns the X component of the pose's translation.
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*
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* @return The x component of the pose's translation.
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*/
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constexpr wpi::units::meter_t X() const { return m_translation.X(); }
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/**
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* Returns the Y component of the pose's translation.
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*
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* @return The y component of the pose's translation.
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*/
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constexpr wpi::units::meter_t Y() const { return m_translation.Y(); }
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/**
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* Returns the underlying rotation.
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*
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* @return Reference to the rotational component of the pose.
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*/
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constexpr const Rotation2d& Rotation() const { return m_rotation; }
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/**
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* Multiplies the current pose by a scalar.
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*
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* @param scalar The scalar.
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*
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* @return The new scaled Pose2d.
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*/
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constexpr Pose2d operator*(double scalar) const {
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return Pose2d{m_translation * scalar, m_rotation * scalar};
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}
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/**
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* Divides the current pose by a scalar.
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*
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* @param scalar The scalar.
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*
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* @return The new scaled Pose2d.
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*/
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constexpr Pose2d operator/(double scalar) const {
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return *this * (1.0 / scalar);
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}
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/**
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* Rotates the pose around the origin and returns the new pose.
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*
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* @param other The rotation to transform the pose by.
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*
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* @return The rotated pose.
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*/
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constexpr Pose2d RotateBy(const Rotation2d& other) const {
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return {m_translation.RotateBy(other), m_rotation.RotateBy(other)};
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}
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/**
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* Transforms the pose by the given transformation and returns the new pose.
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* See + operator for the matrix multiplication performed.
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*
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* @param other The transform to transform the pose by.
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*
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* @return The transformed pose.
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*/
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constexpr Pose2d TransformBy(const Transform2d& other) const;
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/**
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* Returns the current pose relative to the given pose.
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*
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* This function can often be used for trajectory tracking or pose
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* stabilization algorithms to get the error between the reference and the
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* current pose.
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*
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* @param other The pose that is the origin of the new coordinate frame that
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* the current pose will be converted into.
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*
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* @return The current pose relative to the new origin pose.
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*/
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constexpr Pose2d RelativeTo(const Pose2d& other) const;
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/**
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* Rotates the current pose around a point in 2D space.
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*
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* @param point The point in 2D space to rotate around.
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* @param rot The rotation to rotate the pose by.
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*
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* @return The new rotated pose.
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*/
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constexpr Pose2d RotateAround(const Translation2d& point,
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const Rotation2d& rot) const {
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return {m_translation.RotateAround(point, rot), m_rotation.RotateBy(rot)};
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}
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/**
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* Returns an affine transformation matrix representation of this pose.
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*/
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constexpr Eigen::Matrix3d ToMatrix() const {
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auto vec = m_translation.ToVector();
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auto mat = m_rotation.ToMatrix();
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return Eigen::Matrix3d{{mat(0, 0), mat(0, 1), vec(0)},
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{mat(1, 0), mat(1, 1), vec(1)},
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{0.0, 0.0, 1.0}};
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}
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/**
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* Returns the nearest Pose2d from a collection of poses.
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*
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* If two or more poses in the collection have the same distance from this
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* pose, return the one with the closest rotation component.
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*
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* @param poses The collection of poses.
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* @return The nearest Pose2d from the collection.
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*/
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constexpr Pose2d Nearest(std::span<const Pose2d> poses) const {
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return *std::min_element(
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poses.begin(), poses.end(), [this](const Pose2d& a, const Pose2d& b) {
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auto aDistance = this->Translation().Distance(a.Translation());
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auto bDistance = this->Translation().Distance(b.Translation());
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// If the distances are equal sort by difference in rotation
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if (aDistance == bDistance) {
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return gcem::abs(
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(this->Rotation() - a.Rotation()).Radians().value()) <
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gcem::abs(
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(this->Rotation() - b.Rotation()).Radians().value());
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}
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return aDistance < bDistance;
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});
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}
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/**
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* Returns the nearest Pose2d from a collection of poses.
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*
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* If two or more poses in the collection have the same distance from this
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* pose, return the one with the closest rotation component.
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*
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* @param poses The collection of poses.
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* @return The nearest Pose2d from the collection.
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*/
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constexpr Pose2d Nearest(std::initializer_list<Pose2d> poses) const {
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return *std::min_element(
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poses.begin(), poses.end(), [this](const Pose2d& a, const Pose2d& b) {
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auto aDistance = this->Translation().Distance(a.Translation());
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auto bDistance = this->Translation().Distance(b.Translation());
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// If the distances are equal sort by difference in rotation
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if (aDistance == bDistance) {
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return gcem::abs(
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(this->Rotation() - a.Rotation()).Radians().value()) <
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gcem::abs(
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(this->Rotation() - b.Rotation()).Radians().value());
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}
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return aDistance < bDistance;
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});
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}
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private:
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Translation2d m_translation;
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Rotation2d m_rotation;
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};
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WPILIB_DLLEXPORT
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void to_json(wpi::util::json& json, const Pose2d& pose);
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WPILIB_DLLEXPORT
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void from_json(const wpi::util::json& json, Pose2d& pose);
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} // namespace wpi::math
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#include "wpi/math/geometry/Transform2d.hpp"
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#include "wpi/math/geometry/proto/Pose2dProto.hpp"
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#include "wpi/math/geometry/struct/Pose2dStruct.hpp"
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namespace wpi::math {
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constexpr Transform2d Pose2d::operator-(const Pose2d& other) const {
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const auto pose = this->RelativeTo(other);
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return Transform2d{pose.Translation(), pose.Rotation()};
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}
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constexpr Pose2d Pose2d::TransformBy(
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const wpi::math::Transform2d& other) const {
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return {m_translation + (other.Translation().RotateBy(m_rotation)),
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other.Rotation().RotateBy(m_rotation)};
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}
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constexpr Pose2d Pose2d::RelativeTo(const Pose2d& other) const {
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const Transform2d transform{other, *this};
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return {transform.Translation(), transform.Rotation()};
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}
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} // namespace wpi::math
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