1 /*
2 * Copyright (C) 2021 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 #include "media/Pose.h"
18 #include "media/Twist.h"
19 #include "QuaternionUtil.h"
20
21 namespace android {
22 namespace media {
23
24 using Eigen::Vector3f;
25
fromVector(const std::vector<float> & vec)26 std::optional<Pose3f> Pose3f::fromVector(const std::vector<float>& vec) {
27 if (vec.size() != 6) {
28 return std::nullopt;
29 }
30 return Pose3f({vec[0], vec[1], vec[2]}, rotationVectorToQuaternion({vec[3], vec[4], vec[5]}));
31 }
32
toVector() const33 std::vector<float> Pose3f::toVector() const {
34 Eigen::Vector3f rot = quaternionToRotationVector(mRotation);
35 return {mTranslation[0], mTranslation[1], mTranslation[2], rot[0], rot[1], rot[2]};
36 }
37
moveWithRateLimit(const Pose3f & from,const Pose3f & to,float t,float maxTranslationalVelocity,float maxRotationalVelocity)38 std::tuple<Pose3f, bool> moveWithRateLimit(const Pose3f& from, const Pose3f& to, float t,
39 float maxTranslationalVelocity,
40 float maxRotationalVelocity) {
41 // Never rate limit if both limits are set to infinity.
42 if (isinf(maxTranslationalVelocity) && isinf(maxRotationalVelocity)) {
43 return {to, false};
44 }
45 // Always rate limit if t is 0 (required to avoid division by 0).
46 if (t == 0) {
47 return {from, true};
48 }
49
50 Pose3f fromToTo = from.inverse() * to;
51 Twist3f twist = differentiate(fromToTo, t);
52 float angularRotationalRatio = twist.scalarRotationalVelocity() / maxRotationalVelocity;
53 float translationalVelocityRatio =
54 twist.scalarTranslationalVelocity() / maxTranslationalVelocity;
55 float maxRatio = std::max(angularRotationalRatio, translationalVelocityRatio);
56 if (maxRatio <= 1) {
57 return {to, false};
58 }
59 return {from * integrate(twist, t / maxRatio), true};
60 }
61
operator <<(std::ostream & os,const Pose3f & pose)62 std::ostream& operator<<(std::ostream& os, const Pose3f& pose) {
63 os << "translation: " << pose.translation().transpose()
64 << " quaternion: " << pose.rotation().coeffs().transpose();
65 return os;
66 }
67
68 } // namespace media
69 } // namespace android
70