/usr/include/urdf_model/pose.h is in liburdfdom-headers-dev 0.2.3+dfsg-1.
This file is owned by root:root, with mode 0o644.
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* Copyright (c) 2008, Willow Garage, Inc.
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/* Author: Wim Meeussen */
#ifndef URDF_INTERFACE_POSE_H
#define URDF_INTERFACE_POSE_H
#include <string>
#include <sstream>
#include <vector>
#include <math.h>
#include <boost/algorithm/string.hpp>
#include <boost/lexical_cast.hpp>
#include <urdf_exception/exception.h>
namespace urdf{
class Vector3
{
public:
Vector3(double _x,double _y, double _z) {this->x=_x;this->y=_y;this->z=_z;};
Vector3() {this->clear();};
double x;
double y;
double z;
void clear() {this->x=this->y=this->z=0.0;};
void init(const std::string &vector_str)
{
this->clear();
std::vector<std::string> pieces;
std::vector<double> xyz;
boost::split( pieces, vector_str, boost::is_any_of(" "));
for (unsigned int i = 0; i < pieces.size(); ++i){
if (pieces[i] != ""){
try {
xyz.push_back(boost::lexical_cast<double>(pieces[i].c_str()));
}
catch (boost::bad_lexical_cast &e) {
throw ParseError("Unable to parse component [" + pieces[i] + "] to a double (while parsing a vector value)");
}
}
}
if (xyz.size() != 3)
throw ParseError("Parser found " + boost::lexical_cast<std::string>(xyz.size()) + " elements but 3 expected while parsing vector [" + vector_str + "]");
this->x = xyz[0];
this->y = xyz[1];
this->z = xyz[2];
}
Vector3 operator+(Vector3 vec)
{
return Vector3(this->x+vec.x,this->y+vec.y,this->z+vec.z);
};
};
class Rotation
{
public:
Rotation(double _x,double _y, double _z, double _w) {this->x=_x;this->y=_y;this->z=_z;this->w=_w;};
Rotation() {this->clear();};
void getQuaternion(double &quat_x,double &quat_y,double &quat_z, double &quat_w) const
{
quat_x = this->x;
quat_y = this->y;
quat_z = this->z;
quat_w = this->w;
};
void getRPY(double &roll,double &pitch,double &yaw) const
{
double sqw;
double sqx;
double sqy;
double sqz;
sqx = this->x * this->x;
sqy = this->y * this->y;
sqz = this->z * this->z;
sqw = this->w * this->w;
roll = atan2(2 * (this->y*this->z + this->w*this->x), sqw - sqx - sqy + sqz);
double sarg = -2 * (this->x*this->z - this->w*this->y);
pitch = sarg <= -1.0 ? -0.5*M_PI : (sarg >= 1.0 ? 0.5*M_PI : asin(sarg));
yaw = atan2(2 * (this->x*this->y + this->w*this->z), sqw + sqx - sqy - sqz);
};
void setFromQuaternion(double quat_x,double quat_y,double quat_z,double quat_w)
{
this->x = quat_x;
this->y = quat_y;
this->z = quat_z;
this->w = quat_w;
this->normalize();
};
void setFromRPY(double roll, double pitch, double yaw)
{
double phi, the, psi;
phi = roll / 2.0;
the = pitch / 2.0;
psi = yaw / 2.0;
this->x = sin(phi) * cos(the) * cos(psi) - cos(phi) * sin(the) * sin(psi);
this->y = cos(phi) * sin(the) * cos(psi) + sin(phi) * cos(the) * sin(psi);
this->z = cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi);
this->w = cos(phi) * cos(the) * cos(psi) + sin(phi) * sin(the) * sin(psi);
this->normalize();
};
double x,y,z,w;
void init(const std::string &rotation_str)
{
this->clear();
Vector3 rpy;
rpy.init(rotation_str);
setFromRPY(rpy.x, rpy.y, rpy.z);
}
void clear() { this->x=this->y=this->z=0.0;this->w=1.0; }
void normalize()
{
double s = sqrt(this->x * this->x +
this->y * this->y +
this->z * this->z +
this->w * this->w);
if (s == 0.0)
{
this->x = 0.0;
this->y = 0.0;
this->z = 0.0;
this->w = 1.0;
}
else
{
this->x /= s;
this->y /= s;
this->z /= s;
this->w /= s;
}
};
// Multiplication operator (copied from gazebo)
Rotation operator*( const Rotation &qt ) const
{
Rotation c;
c.x = this->w * qt.x + this->x * qt.w + this->y * qt.z - this->z * qt.y;
c.y = this->w * qt.y - this->x * qt.z + this->y * qt.w + this->z * qt.x;
c.z = this->w * qt.z + this->x * qt.y - this->y * qt.x + this->z * qt.w;
c.w = this->w * qt.w - this->x * qt.x - this->y * qt.y - this->z * qt.z;
return c;
};
/// Rotate a vector using the quaternion
Vector3 operator*(Vector3 vec) const
{
Rotation tmp;
Vector3 result;
tmp.w = 0.0;
tmp.x = vec.x;
tmp.y = vec.y;
tmp.z = vec.z;
tmp = (*this) * (tmp * this->GetInverse());
result.x = tmp.x;
result.y = tmp.y;
result.z = tmp.z;
return result;
};
// Get the inverse of this quaternion
Rotation GetInverse() const
{
Rotation q;
double norm = this->w*this->w+this->x*this->x+this->y*this->y+this->z*this->z;
if (norm > 0.0)
{
q.w = this->w / norm;
q.x = -this->x / norm;
q.y = -this->y / norm;
q.z = -this->z / norm;
}
return q;
};
};
class Pose
{
public:
Pose() { this->clear(); };
Vector3 position;
Rotation rotation;
void clear()
{
this->position.clear();
this->rotation.clear();
};
};
}
#endif
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