Merge pull request #26 from jcarpent/devel

Add {from,to}EulerAngles convertor

Author: jcarpent

CMakeLists.txt

@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2015-2017 LAAS-CNRS
+# Copyright (c) 2015-2018 LAAS-CNRS
 #
 # This file is part of eigenpy.
 # eigenpy is free software: you can redistribute it and/or
@@ -94,6 +94,7 @@ SET(HEADERS
   fwd.hpp
   map.hpp
   geometry.hpp
+  geometry-conversion.hpp
   memory.hpp
   registration.hpp
   angle-axis.hpp
@@ -126,12 +127,14 @@ SET(${PROJECT_NAME}_SOLVERS_SOURCES
   src/solvers/preconditioners.cpp
   src/solvers/solvers.cpp
   )
+
 SET(${PROJECT_NAME}_SOURCES
   ${${PROJECT_NAME}_SOLVERS_SOURCES}
   src/exception.cpp
   src/eigenpy.cpp
   src/angle-axis.cpp
   src/quaternion.cpp
+  src/geometry-conversion.cpp
 )
 
 ADD_LIBRARY(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})

python/main.cpp

@@ -1,5 +1,5 @@
 //
-// Copyright (c) 2017, Justin Carpentier, CNRS
+// Copyright (c) 2017-2018, Justin Carpentier, CNRS
 //
 // This file is part of eigenpy
 // eigenpy is free software: you can redistribute it
@@ -30,6 +30,7 @@ BOOST_PYTHON_MODULE(eigenpy)
   enableEigenPy();
   exposeAngleAxis();
   exposeQuaternion();
+  exposeGeometryConversion();
 
   {
     boost::python::scope solvers = boost::python::class_<SolversScope>("solvers");

src/geometry-conversion.cpp

@@ -0,0 +1,27 @@
+/*
+ * Copyright 2018, Justin Carpentier, LAAS-CNRS
+ *
+ * This file is part of eigenpy.
+ * eigenpy is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation, either version 3 of
+ * the License, or (at your option) any later version.
+ * eigenpy is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.  You should
+ * have received a copy of the GNU Lesser General Public License along
+ * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "eigenpy/memory.hpp"
+#include "eigenpy/geometry.hpp"
+#include "eigenpy/geometry-conversion.hpp"
+
+namespace eigenpy
+{
+  void exposeGeometryConversion()
+  {
+    EulerAnglesConvertor<double>::expose();
+  }
+} // namespace eigenpy

src/geometry-conversion.hpp

@@ -0,0 +1,74 @@
+/*
+ * Copyright 2018, Justin Carpentier, LAAS-CNRS
+ *
+ * This file is part of eigenpy.
+ * eigenpy is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation, either version 3 of
+ * the License, or (at your option) any later version.
+ * eigenpy is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.  You should
+ * have received a copy of the GNU Lesser General Public License along
+ * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __eigenpy_geometry_conversion_hpp__
+#define __eigenpy_geometry_conversion_hpp__
+
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+#include <boost/python.hpp>
+
+namespace eigenpy
+{
+  
+  namespace bp = boost::python;
+ 
+  template<typename Scalar,int Options=0>
+  struct EulerAnglesConvertor
+  {
+    
+    typedef typename Eigen::Matrix<Scalar,3,1,Options> Vector3;
+    typedef typename Eigen::Matrix<Scalar,3,3,Options> Matrix3;
+    typedef typename Vector3::Index Index;
+    
+    typedef typename Eigen::AngleAxis<Scalar> AngleAxis;
+    
+    static void expose()
+    {
+      bp::def("toEulerAngles",&EulerAnglesConvertor::toEulerAngles,
+              bp::args("mat (dim 3x3)","a0","a1","a2"),
+              "It returns the Euler-angles of the rotation matrix mat using the convention defined by the triplet (a0,a1,a2).");
+      
+      bp::def("fromEulerAngles",&EulerAnglesConvertor::fromEulerAngles,
+              bp::args("ea (vector of Euler angles)","a0","a1","a2"),
+              "It returns the rotation matrix associated to the Euler angles using the convention defined by the triplet (a0,a1,a2).");
+    }
+    
+    static Vector3 toEulerAngles(const Matrix3 & mat,
+                                 Index a0,
+                                 Index a1,
+                                 Index a2)
+    {
+      return mat.eulerAngles(a0,a1,a2);
+    }
+    
+    static Matrix3 fromEulerAngles(const Vector3 & ea,
+                                   Index a0,
+                                   Index a1,
+                                   Index a2)
+    {
+      Matrix3 mat;
+      mat = AngleAxis(ea[0], Vector3::Unit(a0))
+      * AngleAxis(ea[1], Vector3::Unit(a1))
+      * AngleAxis(ea[2], Vector3::Unit(a2));
+      return mat;
+    }
+  };
+  
+  
+} // namespace eigenpy
+
+#endif // define __eigenpy_geometry_conversion_hpp__

src/geometry.hpp

@@ -1,5 +1,5 @@
 /*
- * Copyright 2014, Nicolas Mansard, LAAS-CNRS
+ * Copyright 2014-2018, Nicolas Mansard, Justin Carpentier, LAAS-CNRS
  *
  * This file is part of eigenpy.
  * eigenpy is free software: you can redistribute it and/or
@@ -23,6 +23,8 @@ namespace eigenpy
   void exposeQuaternion();
   void exposeAngleAxis();
 
+  void exposeGeometryConversion();
+  
 } // namespace eigenpy
 
 #endif // define __eigenpy_geometry_hpp__