96 lines
3.2 KiB
Plaintext
96 lines
3.2 KiB
Plaintext
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// -------------------------------------------------------------------------------
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// Copyright (c) 2012, Junggon Kim
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// 1. Redistributions of source code must retain the above copyright notice, this
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// list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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// ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// -------------------------------------------------------------------------------
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inline RMatrix Ad(const SE3 &T, const RMatrix &J)
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{
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se3 S;
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RMatrix re(J.RowSize(), J.ColSize());
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for (int i=0; i<J.ColSize(); i++)
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{
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S = se3(J[6*i], J[6*i+1], J[6*i+2], J[6*i+3], J[6*i+4], J[6*i+5]);
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//put_se3_to_matrix(re, Ad(T,S), 6*i);
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matSet(&re[6*i], Ad(T,S).GetArray(), 6);
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}
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return re;
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}
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inline RMatrix dAd(const SE3 &T, const RMatrix &J)
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{
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dse3 S;
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RMatrix re(J.RowSize(), J.ColSize());
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for (int i=0; i<J.ColSize(); i++)
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{
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S = dse3(J[6*i], J[6*i+1], J[6*i+2], J[6*i+3], J[6*i+4], J[6*i+5]);
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//put_dse3_to_matrix(re, dAd(T,S), 6*i);
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matSet(&re[6*i], dAd(T,S).GetArray(), 6);
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}
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return re;
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}
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inline RMatrix ad(const se3 &S, const RMatrix &J)
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{
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se3 S2;
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RMatrix re(J.RowSize(), J.ColSize());
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for (int i=0; i<J.ColSize(); i++)
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{
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S2 = se3(J[6*i], J[6*i+1], J[6*i+2], J[6*i+3], J[6*i+4], J[6*i+5]);
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//put_se3_to_matrix(re, ad(S,S2), 6*i);
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matSet(&re[6*i], ad(S,S2).GetArray(), 6);
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}
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return re;
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}
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inline RMatrix ad(const RMatrix &S, const RMatrix &J)
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{
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se3 SS(S[0], S[1], S[2], S[3], S[4], S[5]);
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return ad(SS, J);
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}
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inline RMatrix dad(const se3 &S, const RMatrix &J)
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{
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dse3 S2;
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RMatrix JJ(J.RowSize(), J.ColSize());
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for (int i=0; i<J.ColSize(); i++)
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{
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S2 = dse3(J[6*i], J[6*i+1], J[6*i+2], J[6*i+3], J[6*i+4], J[6*i+5]);
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//put_dse3_to_matrix(JJ, dad(S,S2), 6*i);
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matSet(&JJ[6*i], dad(S,S2).GetArray(), 6);
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}
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return JJ;
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}
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inline RMatrix Cross(const Vec3 &a, const RMatrix &B)
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{
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Vec3 b;
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RMatrix re(B.RowSize(), B.ColSize());
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for (int i=0; i<B.ColSize(); i++) {
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b = Vec3(B[3*i], B[3*i+1], B[3*i+2]);
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//put_Vec3_to_matrix(re, Cross(a,b), 3*i);
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matSet(&re[3*i], Cross(a,b).GetArray(), 3);
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}
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return re;
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}
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