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| 1 | +// Copyright (c) 2008, Willow Garage, Inc. All rights reserved. |
| 2 | +// |
| 3 | +// Redistribution and use in source and binary forms, with or without |
| 4 | +// modification, are permitted provided that the following conditions are met: |
| 5 | +// |
| 6 | +// * Redistributions of source code must retain the above copyright |
| 7 | +// notice, this list of conditions and the following disclaimer. |
| 8 | +// |
| 9 | +// * Redistributions in binary form must reproduce the above copyright |
| 10 | +// notice, this list of conditions and the following disclaimer in the |
| 11 | +// documentation and/or other materials provided with the distribution. |
| 12 | +// |
| 13 | +// * Neither the name of the Willo Garage, Inc nor the names of its |
| 14 | +// contributors may be used to endorse or promote products derived from |
| 15 | +// this software without specific prior written permission. |
| 16 | +// |
| 17 | +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 18 | +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 19 | +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 20 | +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE |
| 21 | +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 22 | +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 23 | +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 24 | +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 25 | +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 26 | +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 27 | +// POSSIBILITY OF SUCH DAMAGE. |
| 28 | + |
| 29 | +/** \author Wim Meeussen */ |
| 30 | + |
| 31 | +#ifndef TF2_BULLET__TF2_BULLET_HPP_ |
| 32 | +#define TF2_BULLET__TF2_BULLET_HPP_ |
| 33 | + |
| 34 | +#include <tf2/convert.h> |
| 35 | +#include <LinearMath/btScalar.h> |
| 36 | +#include <LinearMath/btTransform.h> |
| 37 | +#include <geometry_msgs/msg/point_stamped.hpp> |
| 38 | +#include <tf2_ros/buffer_interface.h> |
| 39 | + |
| 40 | +#include <iostream> |
| 41 | + |
| 42 | +#if (BT_BULLET_VERSION <= 282) |
| 43 | +// Suppress compilation warning on older versions of Bullet. |
| 44 | +// TODO(mjcarroll): Remove this when all platforms have the fix upstream. |
| 45 | +inline int bullet_btInfinityMask() |
| 46 | +{ |
| 47 | + return btInfinityMask; |
| 48 | +} |
| 49 | +#endif |
| 50 | + |
| 51 | +namespace tf2 |
| 52 | +{ |
| 53 | +/** \brief Convert a timestamped transform to the equivalent Bullet data type. |
| 54 | + * \param t The transform to convert, as a geometry_msgs TransformedStamped message. |
| 55 | + * \return The transform message converted to a Bullet btTransform. |
| 56 | + */ |
| 57 | +inline |
| 58 | +btTransform transformToBullet(const geometry_msgs::msg::TransformStamped & t) |
| 59 | +{ |
| 60 | + return btTransform( |
| 61 | + btQuaternion( |
| 62 | + static_cast<float>(t.transform.rotation.x), |
| 63 | + static_cast<float>(t.transform.rotation.y), |
| 64 | + static_cast<float>(t.transform.rotation.z), |
| 65 | + static_cast<float>(t.transform.rotation.w)), |
| 66 | + btVector3( |
| 67 | + static_cast<float>(t.transform.translation.x), |
| 68 | + static_cast<float>(t.transform.translation.y), |
| 69 | + static_cast<float>(t.transform.translation.z))); |
| 70 | +} |
| 71 | + |
| 72 | + |
| 73 | +/** \brief Apply a geometry_msgs TransformStamped to a Bullet-specific Vector3 type. |
| 74 | + * This function is a specialization of the doTransform template defined in tf2/convert.h |
| 75 | + * \param t_in The vector to transform, as a timestamped Bullet btVector3 data type. |
| 76 | + * \param t_out The transformed vector, as a timestamped Bullet btVector3 data type. |
| 77 | + * \param transform The timestamped transform to apply, as a TransformStamped message. |
| 78 | + */ |
| 79 | +template< > |
| 80 | +inline |
| 81 | +void doTransform( |
| 82 | + const tf2::Stamped<btVector3> & t_in, tf2::Stamped<btVector3> & t_out, |
| 83 | + const geometry_msgs::msg::TransformStamped & transform) |
| 84 | +{ |
| 85 | + t_out = |
| 86 | + tf2::Stamped<btVector3>( |
| 87 | + transformToBullet(transform) * t_in, |
| 88 | + tf2_ros::fromMsg(transform.header.stamp), transform.header.frame_id); |
| 89 | +} |
| 90 | + |
| 91 | +/** \brief Convert a stamped Bullet Vector3 type to a PointStamped message. |
| 92 | + * This function is a specialization of the toMsg template defined in tf2/convert.h |
| 93 | + * \param in The timestamped Bullet btVector3 to convert. |
| 94 | + * \return The vector converted to a PointStamped message. |
| 95 | + */ |
| 96 | +inline |
| 97 | +geometry_msgs::msg::PointStamped toMsg(const tf2::Stamped<btVector3> & in) |
| 98 | +{ |
| 99 | + geometry_msgs::msg::PointStamped msg; |
| 100 | + msg.header.stamp = tf2_ros::toMsg(in.stamp_); |
| 101 | + msg.header.frame_id = in.frame_id_; |
| 102 | + msg.point.x = in[0]; |
| 103 | + msg.point.y = in[1]; |
| 104 | + msg.point.z = in[2]; |
| 105 | + return msg; |
| 106 | +} |
| 107 | + |
| 108 | +/** \brief Convert a PointStamped message type to a stamped Bullet-specific Vector3 type. |
| 109 | + * This function is a specialization of the fromMsg template defined in tf2/convert.h |
| 110 | + * \param msg The PointStamped message to convert. |
| 111 | + * \param out The point converted to a timestamped Bullet Vector3. |
| 112 | + */ |
| 113 | +inline |
| 114 | +void fromMsg(const geometry_msgs::msg::PointStamped & msg, tf2::Stamped<btVector3> & out) |
| 115 | +{ |
| 116 | + out.stamp_ = tf2_ros::fromMsg(msg.header.stamp); |
| 117 | + out.frame_id_ = msg.header.frame_id; |
| 118 | + out[0] = static_cast<float>(msg.point.x); |
| 119 | + out[1] = static_cast<float>(msg.point.y); |
| 120 | + out[2] = static_cast<float>(msg.point.z); |
| 121 | +} |
| 122 | + |
| 123 | + |
| 124 | +/** \brief Apply a geometry_msgs TransformStamped to a Bullet-specific Transform data type. |
| 125 | + * This function is a specialization of the doTransform template defined in tf2/convert.h |
| 126 | + * \param t_in The frame to transform, as a timestamped Bullet btTransform. |
| 127 | + * \param t_out The transformed frame, as a timestamped Bullet btTransform. |
| 128 | + * \param transform The timestamped transform to apply, as a TransformStamped message. |
| 129 | + */ |
| 130 | +template< > |
| 131 | +inline |
| 132 | +void doTransform( |
| 133 | + const tf2::Stamped<btTransform> & t_in, tf2::Stamped<btTransform> & t_out, |
| 134 | + const geometry_msgs::msg::TransformStamped & transform) |
| 135 | +{ |
| 136 | + t_out = |
| 137 | + tf2::Stamped<btTransform>( |
| 138 | + transformToBullet(transform) * t_in, |
| 139 | + tf2_ros::fromMsg(transform.header.stamp), transform.header.frame_id); |
| 140 | +} |
| 141 | + |
| 142 | + |
| 143 | +} // namespace tf2 |
| 144 | + |
| 145 | +#endif // TF2_BULLET__TF2_BULLET_HPP_ |
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