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(rolling) Expose already-defined 3D constraints as constraint plugins #419

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(rolling) Expose already-defined 3D constraints as constraint plugins #419

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24 changes: 24 additions & 0 deletions fuse_constraints/fuse_plugins.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -118,4 +118,28 @@
A constraint that represents a measurement on the difference between two 3D poses.
</description>
</class>
<class type="fuse_constraints::AbsoluteAccelerationAngular3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D angular acceleration, or a direct measurement of
the 3D angular acceleration.
</description>
</class>
<class type="fuse_constraints::AbsoluteAccelerationLinear3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D linear acceleration, or a direct measurement of
the 3D linear acceleration.
</description>
</class>
<class type="fuse_constraints::AbsoluteVelocityAngular3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D angular velocity, or a direct measurement of
the 3D angular velocity.
</description>
</class>
<class type="fuse_constraints::AbsoluteVelocityLinear3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D linear velocity, or a direct measurement of
the 3D linear velocity.
</description>
</class>
</library>
12 changes: 12 additions & 0 deletions fuse_constraints/include/fuse_constraints/absolute_constraint.hpp
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Expand Up @@ -206,6 +206,14 @@ using AbsoluteVelocityAngular2DStampedConstraint =
AbsoluteConstraint<fuse_variables::VelocityAngular2DStamped>;
using AbsoluteVelocityLinear2DStampedConstraint =
AbsoluteConstraint<fuse_variables::VelocityLinear2DStamped>;
using AbsoluteAccelerationAngular3DStampedConstraint =
AbsoluteConstraint<fuse_variables::AccelerationAngular3DStamped>;
using AbsoluteAccelerationLinear3DStampedConstraint =
AbsoluteConstraint<fuse_variables::AccelerationLinear3DStamped>;
using AbsoluteVelocityAngular3DStampedConstraint =
AbsoluteConstraint<fuse_variables::VelocityAngular3DStamped>;
using AbsoluteVelocityLinear3DStampedConstraint =
AbsoluteConstraint<fuse_variables::VelocityLinear3DStamped>;
} // namespace fuse_constraints

// Include the template implementation
Expand All @@ -218,5 +226,9 @@ BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsolutePosition2DStampedConstraint);
BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsolutePosition3DStampedConstraint);
BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsoluteVelocityAngular2DStampedConstraint);
BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsoluteVelocityLinear2DStampedConstraint);
BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsoluteAccelerationAngular3DStampedConstraint);
BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsoluteAccelerationLinear3DStampedConstraint);
BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsoluteVelocityAngular3DStampedConstraint);
BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsoluteVelocityLinear3DStampedConstraint);

#endif // FUSE_CONSTRAINTS__ABSOLUTE_CONSTRAINT_HPP_
24 changes: 24 additions & 0 deletions fuse_constraints/include/fuse_constraints/absolute_constraint_impl.hpp
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Expand Up @@ -185,6 +185,30 @@ inline std::string AbsoluteConstraint<fuse_variables::VelocityLinear2DStamped>::
return "fuse_constraints::AbsoluteVelocityLinear2DStampedConstraint";
}

template<>
inline std::string AbsoluteConstraint<fuse_variables::AccelerationAngular3DStamped>::type() const
{
return "fuse_constraints_3d::AbsoluteAccelerationAngular3DStampedConstraint";
}

template<>
inline std::string AbsoluteConstraint<fuse_variables::AccelerationLinear3DStamped>::type() const
{
return "fuse_constraints_3d::AbsoluteAccelerationLinear3DStampedConstraint";
}

template<>
inline std::string AbsoluteConstraint<fuse_variables::VelocityAngular3DStamped>::type() const
{
return "fuse_constraints_3d::AbsoluteVelocityAngular3DStampedConstraint";
}

template<>
inline std::string AbsoluteConstraint<fuse_variables::VelocityLinear3DStamped>::type() const
{
return "fuse_constraints_3d::AbsoluteVelocityLinear3DStampedConstraint";
}

} // namespace fuse_constraints

#endif // FUSE_CONSTRAINTS__ABSOLUTE_CONSTRAINT_IMPL_HPP_
16 changes: 16 additions & 0 deletions fuse_constraints/src/absolute_constraint.cpp
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Expand Up @@ -42,6 +42,10 @@ BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsolutePosition2DStampedConstrai
BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsolutePosition3DStampedConstraint);
BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsoluteVelocityAngular2DStampedConstraint);
BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsoluteVelocityLinear2DStampedConstraint);
BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsoluteAccelerationAngular3DStampedConstraint);
BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsoluteAccelerationLinear3DStampedConstraint);
BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsoluteVelocityAngular3DStampedConstraint);
BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsoluteVelocityLinear3DStampedConstraint);

PLUGINLIB_EXPORT_CLASS(
fuse_constraints::AbsoluteAccelerationAngular2DStampedConstraint,
Expand All @@ -64,3 +68,15 @@ PLUGINLIB_EXPORT_CLASS(
PLUGINLIB_EXPORT_CLASS(
fuse_constraints::AbsoluteVelocityLinear2DStampedConstraint,
fuse_core::Constraint);
PLUGINLIB_EXPORT_CLASS(
fuse_constraints::AbsoluteAccelerationAngular3DStampedConstraint,
fuse_core::Constraint);
PLUGINLIB_EXPORT_CLASS(
fuse_constraints::AbsoluteAccelerationLinear3DStampedConstraint,
fuse_core::Constraint);
PLUGINLIB_EXPORT_CLASS(
fuse_constraints::AbsoluteVelocityAngular3DStampedConstraint,
fuse_core::Constraint);
PLUGINLIB_EXPORT_CLASS(
fuse_constraints::AbsoluteVelocityLinear3DStampedConstraint,
fuse_core::Constraint);