SO3.hpp

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#ifndef AIKIDO_STATESPACE_SO3STATESPACE_HPP_
#define AIKIDO_STATESPACE_SO3STATESPACE_HPP_
#include <Eigen/Geometry>
 
#include "aikido/statespace/ScopedState.hpp"
#include "aikido/statespace/StateSpace.hpp"
 
namespace aikido {
namespace statespace {
 
// Defined in detail/SO3-impl.hpp
template <class>
class SO3StateHandle;
 
class SO3 : virtual public StateSpace
{
public:
  class State : public StateSpace::State
  {
  public:
    using Quaternion = Eigen::Quaternion<double, Eigen::DontAlign>;
 
    State();
 
    ~State() = default;
 
    explicit State(const Quaternion& _quaternion);
 
    const Quaternion& getQuaternion() const;
 
    void setQuaternion(const Quaternion& _quaternion);
 
  private:
    Quaternion mValue;
 
    friend class SO3;
  };
 
  using StateHandle = SO3StateHandle<State>;
  using StateHandleConst = SO3StateHandle<const State>;
 
  using ScopedState = statespace::ScopedState<StateHandle>;
  using ScopedStateConst = statespace::ScopedState<StateHandleConst>;
 
  using StateSpace::compose;
 
  using Quaternion = State::Quaternion;
 
  SO3() = default;
 
  ScopedState createState() const;
 
  ScopedState cloneState(const StateSpace::State* stateIn) const;
 
  const Quaternion& getQuaternion(const State* _state) const;
 
  void setQuaternion(State* _state, const Quaternion& _quaternion) const;
 
  // Documentation inherited.
  std::size_t getStateSizeInBytes() const override;
 
  // Documentation inherited.
  StateSpace::State* allocateStateInBuffer(void* _buffer) const override;
 
  // Documentation inherited.
  void freeStateInBuffer(StateSpace::State* _state) const override;
 
  // Documentation inherited.
  void compose(
      const StateSpace::State* _state1,
      const StateSpace::State* _state2,
      StateSpace::State* _out) const override;
 
  // Documentation inherited
  void getIdentity(StateSpace::State* _out) const override;
 
  // Documentation inherited
  void getInverse(
      const StateSpace::State* _in, StateSpace::State* _out) const override;
 
  // Documentation inherited
  std::size_t getDimension() const override;
 
  // Documentation inherited
  void copyState(
      const StateSpace::State* _source,
      StateSpace::State* _destination) const override;
 
  void expMap(
      const Eigen::VectorXd& _tangent, StateSpace::State* _out) const override;
 
  void logMap(
      const StateSpace::State* _in, Eigen::VectorXd& _tangent) const override;
 
  void print(const StateSpace::State* _state, std::ostream& _os) const override;
};
 
} // namespace statespace
} // namespace aikido
 
#include "detail/SO3-impl.hpp"
 
#endif // ifndef AIKIDO_STATESPACE_SO3STATESPACE_HPP_