vpPoseVector.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software 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 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Pose object. A pose is a size 6 vector [t, tu]^T where tu is
 * a rotation vector (theta u representation) and t is a translation vector.
 */

 
#include <assert.h>
#include <sstream>
 
#include <visp3/core/vpException.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMatrixException.h>
#include <visp3/core/vpPoseVector.h>
 
BEGIN_VISP_NAMESPACE
 
const unsigned int vpPoseVector::constr_value_6 = 6;
vpPoseVector::vpPoseVector() : vpArray2D<double>(constr_value_6, 1) { }

vpPoseVector::vpPoseVector(double tx, double ty, double tz, double tux, double tuy, double tuz)
  : vpArray2D<double>(constr_value_6, 1)
{
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  const unsigned int index_3 = 3;
  const unsigned int index_4 = 4;
  const unsigned int index_5 = 5;
  (*this)[index_0] = tx;
  (*this)[index_1] = ty;
  (*this)[index_2] = tz;
 
  (*this)[index_3] = tux;
  (*this)[index_4] = tuy;
  (*this)[index_5] = tuz;
}

vpPoseVector::vpPoseVector(const vpTranslationVector &tv, const vpThetaUVector &tu) : vpArray2D<double>(constr_value_6, 1)
{
  buildFrom(tv, tu);
}

vpPoseVector::vpPoseVector(const vpTranslationVector &tv, const vpRotationMatrix &R) : vpArray2D<double>(constr_value_6, 1)
{
  buildFrom(tv, R);
}

vpPoseVector::vpPoseVector(const vpHomogeneousMatrix &M) : vpArray2D<double>(constr_value_6, 1) { buildFrom(M); }

void vpPoseVector::set(double tx, double ty, double tz, double tux, double tuy, double tuz)
{
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  const unsigned int index_3 = 3;
  const unsigned int index_4 = 4;
  const unsigned int index_5 = 5;
  (*this)[index_0] = tx;
  (*this)[index_1] = ty;
  (*this)[index_2] = tz;
 
  (*this)[index_3] = tux;
  (*this)[index_4] = tuy;
  (*this)[index_5] = tuz;
}

vpPoseVector &vpPoseVector::buildFrom(const double &tx, const double &ty, const double &tz, const double &tux, const double &tuy, const double &tuz)
{
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  const unsigned int index_3 = 3;
  const unsigned int index_4 = 4;
  const unsigned int index_5 = 5;
  (*this)[index_0] = tx;
  (*this)[index_1] = ty;
  (*this)[index_2] = tz;
 
  (*this)[index_3] = tux;
  (*this)[index_4] = tuy;
  (*this)[index_5] = tuz;
  return *this;
}

vpPoseVector &vpPoseVector::buildFrom(const vpHomogeneousMatrix &M)
{
  vpRotationMatrix R;
  M.extract(R);
  vpTranslationVector tv;
  M.extract(tv);
  buildFrom(tv, R);
  return *this;
}

vpPoseVector &vpPoseVector::buildFrom(const vpTranslationVector &tv, const vpThetaUVector &tu)
{
  const unsigned int val_3 = 3;
  const unsigned int index_3 = 3;
  for (unsigned int i = 0; i < val_3; ++i) {
    (*this)[i] = tv[i];
    (*this)[i + index_3] = tu[i];
  }
  return *this;
}

vpPoseVector &vpPoseVector::buildFrom(const vpTranslationVector &tv, const vpRotationMatrix &R)
{
  vpThetaUVector tu;
  tu.buildFrom(R);
 
  buildFrom(tv, tu);
  return *this;
}

void vpPoseVector::extract(vpTranslationVector &tv) const
{
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  tv[index_0] = (*this)[index_0];
  tv[index_1] = (*this)[index_1];
  tv[index_2] = (*this)[index_2];
}

void vpPoseVector::extract(vpThetaUVector &tu) const
{
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  const unsigned int index_3 = 3;
  const unsigned int index_4 = 4;
  const unsigned int index_5 = 5;
  tu[index_0] = (*this)[index_3];
  tu[index_1] = (*this)[index_4];
  tu[index_2] = (*this)[index_5];
}

void vpPoseVector::extract(vpQuaternionVector &q) const
{
  vpRotationMatrix R((*this)[3], (*this)[4], (*this)[5]);
  q.buildFrom(R);
}

void vpPoseVector::extract(vpRotationMatrix &R) const
{
  const unsigned int index_3 = 3;
  const unsigned int index_4 = 4;
  const unsigned int index_5 = 5;
  R.buildFrom((*this)[index_3], (*this)[index_4], (*this)[index_5]);
}

vpTranslationVector vpPoseVector::getTranslationVector() const
{
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  vpTranslationVector tr((*this)[index_0], (*this)[index_1], (*this)[index_2]);
  return tr;
}

vpRotationMatrix vpPoseVector::getRotationMatrix() const
{
  vpRotationMatrix R((*this)[3], (*this)[4], (*this)[5]);
  return R;
}

vpThetaUVector vpPoseVector::getThetaUVector() const
{
  vpThetaUVector tu((*this)[3], (*this)[4], (*this)[5]);
  return tu;
}

void vpPoseVector::print() const
{
  const unsigned int nparam = 6;
  const unsigned int nparam_t = 3;
  for (unsigned int i = 0; i < nparam; ++i) {
    if (i < nparam_t) {
      std::cout << (*this)[i] << " ";
    }
    else {
      std::cout << vpMath::deg((*this)[i]) << " ";
    }
  }
  std::cout << std::endl;
}

void vpPoseVector::save(std::ofstream &f) const
{
  if (!f.fail()) {
    f << *this;
  }
  else {
    throw(vpException(vpException::ioError, "Cannot save the pose vector: ofstream not opened"));
  }
}

void vpPoseVector::load(std::ifstream &f)
{
  if (!f.fail()) {
    const unsigned int nparam = 6;
    for (unsigned int i = 0; i < nparam; ++i) {
      f >> (*this)[i];
    }
  }
  else {
    throw(vpException(vpException::ioError, "Cannot read pose vector: ifstream not opened"));
  }
}
 
/*
  Transpose the pose vector. The resulting vector becomes a row vector.
 
*/
vpRowVector vpPoseVector::t() const
{
  vpRowVector v(rowNum);
  memcpy(v.data, data, rowNum * sizeof(double));
  return v;
}

int vpPoseVector::print(std::ostream &s, unsigned int length, char const *intro) const
{
  typedef std::string::size_type size_type;
 
  unsigned int m = getRows();
  unsigned int n = 1;
 
  std::vector<std::string> values(m * n);
  std::ostringstream oss;
  std::ostringstream ossFixed;
  std::ios_base::fmtflags original_flags = oss.flags();
 
  // --comment: ossFixed less less std fixed
  ossFixed.setf(std::ios::fixed, std::ios::floatfield);
 
  size_type maxBefore = 0; // the length of the integral part
  size_type maxAfter = 0;  // number of decimals plus
  // one place for the decimal point
  for (unsigned int i = 0; i < m; ++i) {
    oss.str("");
    oss << (*this)[i];
    if (oss.str().find("e") != std::string::npos) {
      ossFixed.str("");
      ossFixed << (*this)[i];
      oss.str(ossFixed.str());
    }
 
    values[i] = oss.str();
    size_type thislen = values[i].size();
    size_type p = values[i].find('.');
 
    if (p == std::string::npos) {
      maxBefore = vpMath::maximum(maxBefore, thislen);
      // maxAfter remains the same
    }
    else {
      maxBefore = vpMath::maximum(maxBefore, p);
      maxAfter = vpMath::maximum(maxAfter, thislen - p - 1);
    }
  }
 
  size_type totalLength = length;
  // increase totalLength according to maxBefore
  totalLength = vpMath::maximum(totalLength, maxBefore);
  // decrease maxAfter according to totalLength
  maxAfter = std::min<size_type>(maxAfter, totalLength - maxBefore);
  if (maxAfter == 1) {
    maxAfter = 0;
  }
 
  // the following line is useful for debugging
  // std::cerr <<totalLength <<" " <<maxBefore <<" " <<maxAfter <<"\n";
 
  if (intro) {
    s << intro;
  }
  s << "[" << m << "," << n << "]=\n";
 
  for (unsigned int i = 0; i < m; ++i) {
    s << "  ";
    size_type p = values[i].find('.');
    s.setf(std::ios::right, std::ios::adjustfield);
    s.width(static_cast<std::streamsize>(maxBefore));
    s << values[i].substr(0, p).c_str();
 
    if (maxAfter > 0) {
      s.setf(std::ios::left, std::ios::adjustfield);
      if (p != std::string::npos) {
        s.width(static_cast<std::streamsize>(maxAfter));
        s << values[i].substr(p, maxAfter).c_str();
      }
      else {
        assert(maxAfter > 1);
        s.width(static_cast<std::streamsize>(maxAfter));
        s << ".0";
      }
    }
 
    s << ' ';
 
    s << std::endl;
  }
 
  s.flags(original_flags); // restore s to standard state
 
  return static_cast<int>(maxBefore + maxAfter);
}

std::vector<double> vpPoseVector::toStdVector() const
{
  std::vector<double> v(this->size());
 
  unsigned int this_size = this->size();
  for (unsigned int i = 0; i < this_size; ++i) {
    v[i] = data[i];
  }
  return v;
}
 
#ifdef VISP_HAVE_NLOHMANN_JSON
#include <visp3/core/vpJsonParsing.h>
VP_ATTRIBUTE_NO_DESTROY const std::string vpPoseVector::jsonTypeName = "vpPoseVector";
void vpPoseVector::convert_to_json(nlohmann::json &j) const
{
  const vpArray2D<double> *asArray = (vpArray2D<double>*) this;
  to_json(j, *asArray);
  j["type"] = vpPoseVector::jsonTypeName;
}
void vpPoseVector::parse_json(const nlohmann::json &j)
{
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
  vpArray2D<double> *asArray = (vpArray2D<double>*) this;
  if (j.is_object() && j.contains("type")) { // Specific conversions
    const bool converted = convertFromTypeAndBuildFrom<vpPoseVector, vpHomogeneousMatrix>(j, *this);
    if (!converted) {
      from_json(j, *asArray);
    }
  }
  else { // Generic 2D array conversion
    from_json(j, *asArray);
  }
 
  if ((getCols() != 1) && (getRows() != 6)) {
    throw vpException(vpException::badValue, "From JSON, tried to read something that is not a 6D pose vector");
  }
}
#endif
END_VISP_NAMESPACE