301 lines
12 KiB
C
301 lines
12 KiB
C
#ifndef _BGC_RIGID_POSE3_H_INCLUDED_
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#define _BGC_RIGID_POSE3_H_INCLUDED_
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#include <math.h>
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#include "types.h"
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#include "affine3.h"
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#include "quaternion.h"
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#include "dual-quaternion.h"
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// ==================== Reset =================== //
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inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose)
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{
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pose->_versor.real_part.s0 = 1.0f;
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pose->_versor.real_part.x1 = 0.0f;
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pose->_versor.real_part.x2 = 0.0f;
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pose->_versor.real_part.x3 = 0.0f;
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pose->_versor.dual_part.s0 = 0.0f;
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pose->_versor.dual_part.x1 = 0.0f;
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pose->_versor.dual_part.x2 = 0.0f;
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pose->_versor.dual_part.x3 = 0.0f;
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}
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inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose)
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{
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pose->_versor.real_part.s0 = 1.0;
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pose->_versor.real_part.x1 = 0.0;
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pose->_versor.real_part.x2 = 0.0;
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pose->_versor.real_part.x3 = 0.0;
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pose->_versor.dual_part.s0 = 0.0;
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pose->_versor.dual_part.x1 = 0.0;
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pose->_versor.dual_part.x2 = 0.0;
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pose->_versor.dual_part.x3 = 0.0;
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}
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// ================= Normalize ================== //
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inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose)
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{
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&pose->_versor.real_part);
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if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
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bgc_fp32_rigid_pose3_reset(pose);
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return;
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}
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if (!bgc_fp32_is_square_unit(square_magnitude)) {
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const float multiplier = sqrtf(1.0f / square_magnitude);
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bgc_fp32_dual_quaternion_multiply_by_real_number(&pose->_versor, &pose->_versor, multiplier);
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}
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const float dot_product = bgc_fp32_quaternion_get_dot_product(&pose->_versor.real_part, &pose->_versor.dual_part);
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bgc_fp32_quaternion_subtract_scaled(&pose->_versor.dual_part, &pose->_versor.dual_part, &pose->_versor.real_part, dot_product);
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}
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inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose)
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{
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const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&pose->_versor.real_part);
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if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
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bgc_fp64_rigid_pose3_reset(pose);
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return;
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}
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if (!bgc_fp64_is_square_unit(square_magnitude)) {
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const double multiplier = sqrt(1.0 / square_magnitude);
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bgc_fp64_dual_quaternion_multiply_by_real_number(&pose->_versor, &pose->_versor, multiplier);
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}
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const double dot_product = bgc_fp64_quaternion_get_dot_product(&pose->_versor.real_part, &pose->_versor.dual_part);
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bgc_fp64_quaternion_subtract_scaled(&pose->_versor.dual_part, &pose->_versor.dual_part, &pose->_versor.real_part, dot_product);
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}
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// ============ Get Dual Quaternion ============= //
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inline void bgc_fp32_rigid_pose3_get_dual_quaternion(BGC_FP32_DualQuaternion* quaternion, const BGC_FP32_RigidPose3* pose)
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{
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bgc_fp32_dual_quaternion_copy(quaternion, &pose->_versor);
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}
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inline void bgc_fp64_rigid_pose3_get_dual_quaternion(BGC_FP64_DualQuaternion* quaternion, const BGC_FP64_RigidPose3* pose)
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{
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bgc_fp64_dual_quaternion_copy(quaternion, &pose->_versor);
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}
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// ============ Get Dual Quaternion ============= //
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inline void bgc_fp32_rigid_pose3_set_dual_quaternion(BGC_FP32_RigidPose3* pose, const BGC_FP32_DualQuaternion* quaternion)
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{
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bgc_fp32_dual_quaternion_copy(&pose->_versor, quaternion);
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_bgc_fp32_rigid_pose3_normalize(destination);
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}
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inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* pose, const BGC_FP64_DualQuaternion* quaternion)
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{
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bgc_fp64_dual_quaternion_copy(&pose->_versor, quaternion);
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_bgc_fp64_rigid_pose3_normalize(destination);
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}
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// =============== Get Real Part ================ //
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inline void bgc_fp32_rigid_pose3_get_real_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* pose)
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{
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bgc_fp32_quaternion_copy(quaternion, &pose->_versor.real_part);
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}
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inline void bgc_fp64_rigid_pose3_get_real_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* pose)
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{
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bgc_fp64_quaternion_copy(quaternion, &pose->_versor.real_part);
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}
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// =============== Get Dual Part ================ //
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inline void bgc_fp32_rigid_pose3_get_dual_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* pose)
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{
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bgc_fp32_quaternion_copy(quaternion, &pose->_versor.dual_part);
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}
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inline void bgc_fp64_rigid_pose3_get_dual_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* pose)
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{
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bgc_fp64_quaternion_copy(quaternion, &pose->_versor.dual_part);
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}
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// ==================== Copy ==================== //
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inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
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{
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bgc_fp32_dual_quaternion_copy(&destination->_versor, &source->_versor);
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}
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inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
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{
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bgc_fp64_dual_quaternion_copy(&destination->_versor, &source->_versor);
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}
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// ==================== Swap ==================== //
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inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2)
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{
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bgc_fp32_dual_quaternion_swap(&pose1->_versor, &pose2->_versor);
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}
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inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2)
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{
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bgc_fp64_dual_quaternion_swap(&pose1->_versor, &pose2->_versor);
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}
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// ================== Convert =================== //
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inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
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{
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bgc_fp32_dual_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);
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_bgc_fp64_rigid_pose3_normalize(destination);
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}
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inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
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{
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bgc_fp64_dual_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
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_bgc_fp32_rigid_pose3_normalize(destination);
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}
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// =================== Revert =================== //
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inline void bgc_fp32_rigid_pose3_revert(BGC_FP32_RigidPose3* pose)
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{
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bgc_fp32_quaternion_conjugate(&pose->_versor.real_part);
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bgc_fp32_quaternion_conjugate(&pose->_versor.dual_part);
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}
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inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* pose)
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{
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bgc_fp64_quaternion_conjugate(&pose->_versor.real_part);
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bgc_fp64_quaternion_conjugate(&pose->_versor.dual_part);
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}
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// ================ Get Reverse ================= //
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inline void bgc_fp32_rigid_pose3_get_reverse(BGC_FP32_RigidPose3* reverse, const BGC_FP32_RigidPose3* pose)
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{
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bgc_fp32_quaternion_get_conjugate(&reverse->_versor.real_part, &pose->_versor.real_part);
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bgc_fp32_quaternion_get_conjugate(&reverse->_versor.dual_part, &pose->_versor.dual_part);
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}
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inline void bgc_fp64_rigid_pose3_get_reverse(BGC_FP64_RigidPose3* reverse, const BGC_FP64_RigidPose3* pose)
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{
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bgc_fp64_quaternion_get_conjugate(&reverse->_versor.real_part, &pose->_versor.real_part);
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bgc_fp64_quaternion_get_conjugate(&reverse->_versor.dual_part, &pose->_versor.dual_part);
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}
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// ================== Combine =================== //
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inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second)
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{
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bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
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_bgc_fp32_rigid_pose3_normalize(combination);
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}
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inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second)
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{
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bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
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_bgc_fp64_rigid_pose3_normalize(combination);
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}
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// ================== Exclude =================== //
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inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* difference, const BGC_FP32_RigidPose3* base, const BGC_FP32_RigidPose3* excludant)
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{
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BGC_FP32_Quaternion dual_part1, dual_part2;
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_bgc_fp32_restrict_quaternion_multiply_by_conjugate(&dual_part1, &base->_versor.real_part, &excludant->_versor.dual_part);
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_bgc_fp32_restrict_quaternion_multiply_by_conjugate(&dual_part2, &base->_versor.dual_part, &excludant->_versor.real_part);
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bgc_fp32_quaternion_multiply_by_conjugate(&difference->_versor.real_part, &base->_versor.real_part, &excludant->_versor.real_part);
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bgc_fp32_quaternion_add(&difference->_versor.dual_part, &dual_part1, &dual_part2);
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_bgc_fp32_rigid_pose3_normalize(difference);
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}
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inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* difference, const BGC_FP64_RigidPose3* base, const BGC_FP64_RigidPose3* excludant)
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{
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BGC_FP64_Quaternion dual_part1, dual_part2;
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_bgc_fp64_restrict_quaternion_multiply_by_conjugate(&dual_part1, &base->_versor.real_part, &excludant->_versor.dual_part);
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_bgc_fp64_restrict_quaternion_multiply_by_conjugate(&dual_part2, &base->_versor.dual_part, &excludant->_versor.real_part);
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bgc_fp64_quaternion_multiply_by_conjugate(&difference->_versor.real_part, &base->_versor.real_part, &excludant->_versor.real_part);
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bgc_fp64_quaternion_add(&difference->_versor.dual_part, &dual_part1, &dual_part2);
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_bgc_fp64_rigid_pose3_normalize(difference);
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}
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// ============= Get Outward Matrix ============= //
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inline void bgc_fp32_rigid_pose3_get_outward_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_RigidPose3* pose)
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{
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_bgc_fp32_versor_get_rotation_matrix(matrix, &pose->_versor.real_part);
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}
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inline void bgc_fp64_rigid_pose3_get_outward_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_RigidPose3* pose)
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{
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_bgc_fp64_versor_get_rotation_matrix(matrix, &pose->_versor.real_part);
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}
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// ============= Get Inward Matrix ============== //
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inline void bgc_fp32_rigid_pose3_get_inward_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_RigidPose3* pose)
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{
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_bgc_fp32_versor_get_reverse_matrix(matrix, &pose->_versor.real_part);
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}
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inline void bgc_fp64_rigid_pose3_get_inward_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_RigidPose3* pose)
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{
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_bgc_fp64_versor_get_reverse_matrix(matrix, &pose->_versor.real_part);
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}
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// ============ Get Outward Affine3 ============= //
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inline void bgc_fp32_rigid_pose3_get_outward_affine3(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose)
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{
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_bgc_fp32_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
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const BGC_FP32_Quaternion * real = &pose->_versor.real_part;
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const BGC_FP32_Quaternion * dual = &pose->_versor.dual_part;
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affine_map->shift.x1 = (dual->x1 * real->s0 + dual->x3 * real->x2) - (dual->s0 * real->x1 + dual->x2 * real->x3);
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affine_map->shift.x2 = (dual->x2 * real->s0 + dual->x1 * real->x3) - (dual->s0 * real->x2 + dual->x3 * real->x1);
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affine_map->shift.x3 = (dual->x3 * real->s0 + dual->x2 * real->x1) - (dual->s0 * real->x3 + dual->x1 * real->x2);
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}
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inline void bgc_fp64_rigid_pose3_get_outward_affine3(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* pose)
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{
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_bgc_fp64_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
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const BGC_FP64_Quaternion * real = &pose->_versor.real_part;
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const BGC_FP64_Quaternion * dual = &pose->_versor.dual_part;
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affine_map->shift.x1 = (dual->x1 * real->s0 + dual->x3 * real->x2) - (dual->s0 * real->x1 + dual->x2 * real->x3);
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affine_map->shift.x2 = (dual->x2 * real->s0 + dual->x1 * real->x3) - (dual->s0 * real->x2 + dual->x3 * real->x1);
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affine_map->shift.x3 = (dual->x3 * real->s0 + dual->x2 * real->x1) - (dual->s0 * real->x3 + dual->x1 * real->x2);
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}
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// ============= Get Inward Affine3 ============= //
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inline void bgc_fp32_rigid_pose3_get_inward_affine3(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose)
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{
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_bgc_fp32_versor_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part);
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const BGC_FP32_Quaternion * real = &pose->_versor.real_part;
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const BGC_FP32_Quaternion * dual = &pose->_versor.dual_part;
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//TODO: set the shift in the affine map
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}
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#endif
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