SO2.hpp

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#ifndef AIKIDO_STATESPACE_SO2STATESPACE_HPP_
#define AIKIDO_STATESPACE_SO2STATESPACE_HPP_
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include "aikido/statespace/ScopedState.hpp"
#include "aikido/statespace/StateSpace.hpp"
 
namespace aikido {
namespace statespace {
 
// Defined in detail/SO2-impl.hpp
template <class>
class SO2StateHandle;
 
class SO2 : virtual public StateSpace
{
public:
  class State;
 
  using StateHandle = SO2StateHandle<State>;
  using StateHandleConst = SO2StateHandle<const State>;
 
  using ScopedState = statespace::ScopedState<StateHandle>;
  using ScopedStateConst = statespace::ScopedState<StateHandleConst>;
 
  using StateSpace::compose;
 
  SO2() = default;
 
  ScopedState createState() const;
 
  ScopedState cloneState(const StateSpace::State* stateIn) const;
 
  double toAngle(const State* state) const;
 
  void fromAngle(State* state, double angle) const;
 
  Eigen::Rotation2Dd toRotation(const State* state) const;
 
  void fromRotation(State* state, const Eigen::Rotation2Dd& rotation) 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;
};
 
class SO2::State final : public StateSpace::State
{
public:
  explicit State(double angle = 0.0);
 
  ~State() = default;
 
  double toAngle() const;
 
  void fromAngle(double angle);
 
  Eigen::Rotation2Dd toRotation() const;
 
  void fromRotation(const Eigen::Rotation2Dd& rotation);
 
private:
  double mAngle;
 
  friend class SO2;
};
 
} // namespace statespace
} // namespace aikido
 
#include "detail/SO2-impl.hpp"
 
#endif // ifndef AIKIDO_STATESPACE_SO2STATESPACE_HPP_