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 #include <android-base/stringprintf.h>
17
18 #include "media/Pose.h"
19 #include "media/QuaternionUtil.h"
20 #include "media/Twist.h"
21
22 namespace android {
23 namespace media {
24
25 using android::base::StringAppendF;
26 using Eigen::Vector3f;
27
fromVector(const std::vector<float> & vec)28 std::optional<Pose3f> Pose3f::fromVector(const std::vector<float>& vec) {
29 if (vec.size() != 6) {
30 return std::nullopt;
31 }
32 return Pose3f({vec[0], vec[1], vec[2]}, rotationVectorToQuaternion({vec[3], vec[4], vec[5]}));
33 }
34
toVector() const35 std::vector<float> Pose3f::toVector() const {
36 Eigen::Vector3f rot = quaternionToRotationVector(mRotation);
37 return {mTranslation[0], mTranslation[1], mTranslation[2], rot[0], rot[1], rot[2]};
38 }
39
toString() const40 std::string Pose3f::toString() const {
41 const auto& vec = this->toVector();
42 std::string ss = "[";
43 for (auto f = vec.begin(); f != vec.end(); ++f) {
44 if (f != vec.begin()) {
45 ss.append(", ");
46 }
47 StringAppendF(&ss, "%0.2f", *f);
48 }
49 ss.append("]");
50 return ss;
51 }
52
moveWithRateLimit(const Pose3f & from,const Pose3f & to,float t,float maxTranslationalVelocity,float maxRotationalVelocity)53 std::tuple<Pose3f, bool> moveWithRateLimit(const Pose3f& from, const Pose3f& to, float t,
54 float maxTranslationalVelocity,
55 float maxRotationalVelocity) {
56 // Never rate limit if both limits are set to infinity.
57 if (isinf(maxTranslationalVelocity) && isinf(maxRotationalVelocity)) {
58 return {to, false};
59 }
60 // Always rate limit if t is 0 (required to avoid division by 0).
61 if (t == 0 || maxTranslationalVelocity == 0 || maxRotationalVelocity == 0) {
62 return {from, true};
63 }
64
65 Pose3f fromToTo = from.inverse() * to;
66 Twist3f twist = differentiate(fromToTo, t);
67 float angularRotationalRatio = twist.scalarRotationalVelocity() / maxRotationalVelocity;
68 float translationalVelocityRatio =
69 twist.scalarTranslationalVelocity() / maxTranslationalVelocity;
70 float maxRatio = std::max(angularRotationalRatio, translationalVelocityRatio);
71 if (maxRatio <= 1) {
72 return {to, false};
73 }
74 return {from * integrate(twist, t / maxRatio), true};
75 }
76
operator <<(std::ostream & os,const Pose3f & pose)77 std::ostream& operator<<(std::ostream& os, const Pose3f& pose) {
78 os << "translation: " << pose.translation().transpose()
79 << " quaternion: " << pose.rotation().coeffs().transpose();
80 return os;
81 }
82
83 } // namespace media
84 } // namespace android
85