KinematicRepresentation.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __KINEMATIC_REPRESENTATION_HPP__
#define __KINEMATIC_REPRESENTATION_HPP__
 
#include <string>
#include <vector>
 
namespace roboticslab::KinRepresentation
{
 
enum class coordinate_system
{
    CARTESIAN,   
    CYLINDRICAL, 
    SPHERICAL,   
    NONE         
};
 
enum class orientation_system
{
    AXIS_ANGLE,        
    AXIS_ANGLE_SCALED, 
    RPY,               
    EULER_YZ,          
    EULER_ZYZ,         
    POLAR_AZIMUTH,     
    NONE               
};
 
enum class angular_units
{
    DEGREES, 
    RADIANS  
};
 
bool encodePose(const std::vector<double> & x_in, std::vector<double> & x_out,
                coordinate_system coord, orientation_system orient, angular_units angle = angular_units::RADIANS);
 
bool decodePose(const std::vector<double> & x_in, std::vector<double> & x_out,
                coordinate_system coord, orientation_system orient, angular_units angle = angular_units::RADIANS);
 
bool encodeVelocity(const std::vector<double> & x_in, const std::vector<double> & xdot_in,
                    std::vector<double> & xdot_out, coordinate_system coord, orientation_system orient,
                    angular_units angle = angular_units::RADIANS);
 
bool decodeVelocity(const std::vector<double> & x_in, const std::vector<double> & xdot_in,
                    std::vector<double> & xdot_out, coordinate_system coord, orientation_system orient,
                    angular_units angle = angular_units::RADIANS);
 
bool encodeAcceleration(const std::vector<double> & x_in, const std::vector<double> & xdot_in,
                        const std::vector<double> & xdotdot_in, std::vector<double> & xdotdot_out,
                        coordinate_system coord, orientation_system orient, angular_units angle = angular_units::RADIANS);
 
bool decodeAcceleration(const std::vector<double> & x_in, const std::vector<double> & xdot_in,
                        const std::vector<double> & xdotdot_in, std::vector<double> & xdotdot_out,
                        coordinate_system coord, orientation_system orient, angular_units angle = angular_units::RADIANS);
 
double degToRad(double deg);
 
double radToDeg(double rad);
 
bool parseEnumerator(const std::string & str, coordinate_system * coord,
                     coordinate_system fallback = coordinate_system::CARTESIAN);
 
bool parseEnumerator(const std::string & str, orientation_system * orient,
                     orientation_system fallback = orientation_system::AXIS_ANGLE_SCALED);
 
bool parseEnumerator(const std::string & str, angular_units * units,
                     angular_units fallback = angular_units::RADIANS);
 
} // namespace roboticslab::KinRepresentation
 
#endif // __KINEMATIC_REPRESENTATION_HPP__