Program Listing for File orientation.hpp

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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"
// #include "tap/algorithms/euler_angles.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 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_; }

    friend class Transform;

private:
    CMSISMat<3, 3> matrix_;
};  // class Orientation
}  // namespace tap::algorithms::transforms

#endif  // TAPROOT_ORIENTATION_HPP_