SO3.hpp

#ifndef AIKIDO_STATESPACE_SO3STATESPACE_HPP_
#define AIKIDO_STATESPACE_SO3STATESPACE_HPP_
#include <Eigen/Geometry>

#include "aikido/statespace/ScopedState.hpp"
#include "aikido/statespace/StateSpace.hpp"

namespace aikido {
namespace statespace {

// Defined in detail/SO3-impl.hpp
template <class>
class SO3StateHandle;

class SO3 : virtual public StateSpace
{
public:
  class State : public StateSpace::State
  {
  public:
    using Quaternion = Eigen::Quaternion<double, Eigen::DontAlign>;

    State();

    ~State() = default;

    explicit State(const Quaternion& _quaternion);

    const Quaternion& getQuaternion() const;

    void setQuaternion(const Quaternion& _quaternion);

  private:
    Quaternion mValue;

    friend class SO3;
  };

  using StateHandle = SO3StateHandle<State>;
  using StateHandleConst = SO3StateHandle<const State>;

  using ScopedState = statespace::ScopedState<StateHandle>;
  using ScopedStateConst = statespace::ScopedState<StateHandleConst>;

  using StateSpace::compose;

  using Quaternion = State::Quaternion;

  SO3() = default;

  ScopedState createState() const;

  ScopedState cloneState(const StateSpace::State* stateIn) const;

  const Quaternion& getQuaternion(const State* _state) const;

  void setQuaternion(State* _state, const Quaternion& _quaternion) const;

  // Documentation inherited.
  std::size_t getStateSizeInBytes() const override;

  // Documentation inherited.
  StateSpace::State* allocateStateInBuffer(void* _buffer) const override;

  // Documentation inherited.
  void freeStateInBuffer(StateSpace::State* _state) const override;

  // Documentation inherited.
  void compose(
      const StateSpace::State* _state1,
      const StateSpace::State* _state2,
      StateSpace::State* _out) const override;

  // Documentation inherited
  void getIdentity(StateSpace::State* _out) const override;

  // Documentation inherited
  void getInverse(
      const StateSpace::State* _in, StateSpace::State* _out) const override;

  // Documentation inherited
  std::size_t getDimension() const override;

  // Documentation inherited
  void copyState(
      const StateSpace::State* _source,
      StateSpace::State* _destination) const override;

  void expMap(
      const Eigen::VectorXd& _tangent, StateSpace::State* _out) const override;

  void logMap(
      const StateSpace::State* _in, Eigen::VectorXd& _tangent) const override;

  void print(const StateSpace::State* _state, std::ostream& _os) const override;
};

} // namespace statespace
} // namespace aikido

#include "detail/SO3-impl.hpp"

#endif // ifndef AIKIDO_STATESPACE_SO3STATESPACE_HPP_