orientation.hpp

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/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
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/*
 * Copyright (c) 2022-2023 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_ORIENTATION_HPP_
#define TAPROOT_ORIENTATION_HPP_
 
#include "tap/algorithms/cmsis_mat.hpp"
#include "tap/algorithms/math_user_utils.hpp"
 
namespace tap::algorithms::transforms
{
class Orientation
{
public:
    inline Orientation(const float roll, const float pitch, const float yaw)
        : matrix_(tap::algorithms::fromEulerAngles(roll, pitch, yaw))
    {
    }
 
    /* rvalue reference */
    inline Orientation(Orientation&& other) : matrix_(std::move(other.matrix_)) {}
 
    /* Costly; use rvalue reference whenever possible */
    inline Orientation(Orientation& other) : matrix_(CMSISMat(other.matrix_)) {}
 
    /* Costly; use rvalue reference whenever possible */
    inline Orientation(const CMSISMat<3, 3>& matrix) : matrix_(matrix) {}
 
    inline Orientation(CMSISMat<3, 3>&& matrix) : matrix_(std::move(matrix)) {}
 
    inline Orientation compose(const Orientation& other) const
    {
        return Orientation(this->matrix_ * other.matrix_);
    }
 
    inline float roll() const { return atan2(matrix_.data[7], matrix_.data[8]); }
 
    inline float pitch() const { return asinf(-matrix_.data[6]); }
 
    inline float yaw() const { return atan2(matrix_.data[3], matrix_.data[0]); }
 
    const inline CMSISMat<3, 3>& matrix() const { return matrix_; }
 
    static CMSISMat<3, 3> fromEulerAngles(const float roll, const float pitch, const float yaw)
    {
        return tap::algorithms::CMSISMat<3, 3>(
            {cosf(yaw) * cosf(pitch),
             (cosf(yaw) * sinf(pitch) * sinf(roll)) - (sinf(yaw) * cosf(roll)),
             (cosf(yaw) * sinf(pitch) * cosf(roll)) + sinf(yaw) * sinf(roll),
             sinf(yaw) * cosf(pitch),
             sinf(yaw) * sinf(pitch) * sinf(roll) + cosf(yaw) * cosf(roll),
             sinf(yaw) * sinf(pitch) * cosf(roll) - cosf(yaw) * sinf(roll),
             -sinf(pitch),
             cosf(pitch) * sinf(roll),
             cosf(pitch) * cosf(roll)});
    }
 
    friend class Transform;
    friend class DynamicOrientation;
 
private:
    CMSISMat<3, 3> matrix_;
};  // class Orientation
}  // namespace tap::algorithms::transforms
 
#endif  // TAPROOT_ORIENTATION_HPP_