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fuse -> ROS 2 fuse_viz : Linting (#306)
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| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2019, Clearpath Robotics | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the copyright holder nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
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| #ifndef FUSE_VIZ__CONVERSIONS_HPP_ | ||
| #define FUSE_VIZ__CONVERSIONS_HPP_ | ||
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| #include <tf2/LinearMath/Quaternion.h> | ||
| #include <tf2/LinearMath/Transform.h> | ||
| #include <tf2/LinearMath/Vector3.h> | ||
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| #include <OgreColourValue.h> | ||
| #include <OgreQuaternion.h> | ||
| #include <Ogre.h> | ||
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| #include <Eigen/Dense> | ||
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| #include <array> | ||
| #include <stdexcept> | ||
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| #include <fuse_core/graph.hpp> | ||
| #include <fuse_core/uuid.hpp> | ||
| #include <fuse_variables/orientation_2d_stamped.hpp> | ||
| #include <fuse_variables/position_2d_stamped.hpp> | ||
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| namespace tf2 | ||
| { | ||
|
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| /** | ||
| * @brief Convert a 3x3 covariance matrix into a 6x6 covariance message. | ||
| * @param[in] covariance 3x3 covariance matrix. | ||
| * @param[out] msg 6x6 covariance message, which is stored as a plain array with 36 elements. | ||
| */ | ||
| template<typename Derived> | ||
| inline void toMsg(const Eigen::MatrixBase<Derived> & covariance, std::array<double, 36> & msg) | ||
| { | ||
| using Scalar = typename Derived::Scalar; | ||
| using Matrix6 = Eigen::Matrix<Scalar, 6, 6>; | ||
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| Eigen::Map<Matrix6> C(msg.data()); | ||
| C.template topLeftCorner<2, 2>() = covariance.template topLeftCorner<2, 2>(); | ||
| C(5, 5) = covariance(2, 2); | ||
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| C(0, 5) = covariance(0, 2); | ||
| C(1, 5) = covariance(1, 2); | ||
| C(5, 0) = covariance(2, 0); | ||
| C(5, 1) = covariance(2, 1); | ||
| } | ||
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| } // namespace tf2 | ||
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| namespace | ||
| { | ||
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| inline tf2::Vector3 toTF(const fuse_variables::Position2DStamped & position) | ||
| { | ||
| return {position.x(), position.y(), 0}; | ||
| } | ||
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| inline tf2::Quaternion toTF(const fuse_variables::Orientation2DStamped & orientation) | ||
| { | ||
| return {tf2::Vector3{0, 0, 1}, orientation.yaw()}; | ||
| } | ||
|
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| inline tf2::Transform toTF( | ||
| const fuse_variables::Position2DStamped & position, | ||
| const fuse_variables::Orientation2DStamped & orientation) | ||
| { | ||
| return tf2::Transform(toTF(orientation), toTF(position)); | ||
| } | ||
|
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| inline Ogre::Vector3 toOgre(const tf2::Vector3 & position) | ||
| { | ||
| return {static_cast<float>(position.x()), static_cast<float>(position.y()), | ||
| static_cast<float>(position.z())}; | ||
| } | ||
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| inline Ogre::Quaternion toOgre(const tf2::Quaternion & orientation) | ||
| { | ||
| return {static_cast<float>(orientation.w()), static_cast<float>(orientation.x()), // NOLINT | ||
| static_cast<float>(orientation.y()), static_cast<float>(orientation.z())}; | ||
| } | ||
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| inline Ogre::Vector3 toOgre(const fuse_variables::Position2DStamped & position) | ||
| { | ||
| return {static_cast<float>(position.x()), static_cast<float>(position.y()), 0}; | ||
| } | ||
|
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| inline Ogre::Quaternion toOgre(const fuse_variables::Orientation2DStamped & orientation) | ||
| { | ||
| return toOgre(toTF(orientation)); | ||
| } | ||
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| } // namespace | ||
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| namespace | ||
| { | ||
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| inline tf2::Transform getPose( | ||
| const fuse_variables::Position2DStamped & position, | ||
| const fuse_variables::Orientation2DStamped & orientation) | ||
| { | ||
| return tf2::Transform(toTF(orientation), toTF(position)); | ||
| } | ||
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| inline tf2::Transform getPose( | ||
| const fuse_core::Graph & graph, const fuse_core::UUID & position_uuid, | ||
| const fuse_core::UUID & orientation_uuid) | ||
| { | ||
| const auto position = | ||
| dynamic_cast<const fuse_variables::Position2DStamped *>(&graph.getVariable(position_uuid)); | ||
| if (!position) { | ||
| throw std::runtime_error( | ||
| "Failed to get variable " + fuse_core::uuid::to_string(position_uuid) + | ||
| " from graph as fuse_variables::Position2DStamped."); | ||
| } | ||
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| const auto orientation = dynamic_cast<const fuse_variables::Orientation2DStamped *>( | ||
| &graph.getVariable(orientation_uuid)); | ||
| if (!orientation) { | ||
| throw std::runtime_error( | ||
| "Failed to get variable " + fuse_core::uuid::to_string(orientation_uuid) + | ||
| " from graph as fuse_variables::Orientation2DStamped."); | ||
| } | ||
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| return getPose(*position, *orientation); | ||
| } | ||
|
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| } // namespace | ||
| #endif // FUSE_VIZ__CONVERSIONS_HPP_ |
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