C++ Quaterniond::y方法代码示例

void GlobalOptimization::inputOdom(double t, Eigen::Vector3d OdomP, Eigen::Quaterniond OdomQ)
{
	mPoseMap.lock();
    vector<double> localPose{OdomP.x(), OdomP.y(), OdomP.z(), 
    					     OdomQ.w(), OdomQ.x(), OdomQ.y(), OdomQ.z()};
    localPoseMap[t] = localPose;


    Eigen::Quaterniond globalQ;
    globalQ = WGPS_T_WVIO.block<3, 3>(0, 0) * OdomQ;
    Eigen::Vector3d globalP = WGPS_T_WVIO.block<3, 3>(0, 0) * OdomP + WGPS_T_WVIO.block<3, 1>(0, 3);
    vector<double> globalPose{globalP.x(), globalP.y(), globalP.z(),
                              globalQ.w(), globalQ.x(), globalQ.y(), globalQ.z()};
    globalPoseMap[t] = globalPose;
    lastP = globalP;
    lastQ = globalQ;

    geometry_msgs::PoseStamped pose_stamped;
    pose_stamped.header.stamp = ros::Time(t);
    pose_stamped.header.frame_id = "world";
    pose_stamped.pose.position.x = lastP.x();
    pose_stamped.pose.position.y = lastP.y();
    pose_stamped.pose.position.z = lastP.z();
    pose_stamped.pose.orientation.x = lastQ.x();
    pose_stamped.pose.orientation.y = lastQ.y();
    pose_stamped.pose.orientation.z = lastQ.z();
    pose_stamped.pose.orientation.w = lastQ.w();
    global_path.header = pose_stamped.header;
    global_path.poses.push_back(pose_stamped);

    mPoseMap.unlock();
}

/*!
* \brief affine3d2UrdfPose converts an  Eigen affine 4x4 matrix  o represent the pose into a urdf pose 
* vparam pose   eigen Affine3d pose 
* \return   urdf pose with position and rotation.
*/
RCS::Pose Affine3d2UrdfPose(const  Eigen::Affine3d &pose) {
    RCS::Pose p;
    p.getOrigin().setX(pose.translation().x());
    p.getOrigin().setY(pose.translation().y());
    p.getOrigin().setZ(pose.translation().z());

    Eigen::Quaterniond q (pose.rotation());
    tf::Quaternion qtf(q.x(),q.y(),q.z(),q.w());
    //std::cout <<  "Affine3d2UrdfPose Quaterion = \n" << q.x() << ":" << q.y() << ":" << q.z() << ":" << q.w() << std::endl;

    p.setRotation(qtf);
    //std::cout <<  "After Affine3d2UrdfPose Quaterion = \n" << p.getRotation().x() << ":" << p.getRotation().y() << ":" << p.getRotation().z() << ":" << p.getRotation().w() << std::endl;

#if 0
    MatrixEXd m = pose.rotation();
    Eigen::Quaterniond q = EMatrix2Quaterion(m);

    Eigen::Quaterniond q(pose.rotation());
    p.getRotation().setX(q.x());
    p.getRotation().setY(q.y());
    p.getRotation().setZ(q.z());
    p.getRotation().setW(q.w());
    #endif
   return p;
}

void printQuatAngles(Eigen::Quaterniond& quat)
{
	double heading = atan2(2*quat.y()*quat.w()-2*quat.x()*quat.z(), 1 -2 * quat.y()*quat.y()-2*quat.z()*quat.z());

	double attitude = asin(2*quat.x()*quat.y() + 2 *quat.z()*quat.w());

	double bank = atan2(2*quat.x()*quat.w()- 2 * quat.y()*quat.z(), 1 - 2 *quat.x() * quat.x() -2 * quat.z() * quat.z());

	cout << "heading: " << Angle(heading).deg() << " attitude: " << Angle(attitude).deg() << " bank: " << Angle(bank).deg() << endl;
}

 void quaternionEigenToTF(const Eigen::Quaterniond& e, tf::Quaternion& t)
 {
   t[0] = e.x();
   t[1] = e.y();
   t[2] = e.z();
   t[3] = e.w();
 }

Eigen::Matrix3d FeatureModel::dR_by_dqz(const Eigen::Quaterniond &q)
{
  Eigen::Matrix3d M;

  M << -2*q.z(), -2*q.w(), 2*q.x(),
        2*q.w(), -2*q.z(), 2*q.y(),
        2*q.x(), 2*q.y(), 2*q.z();

  return  M;
}

Eigen::Quaterniond VizHelperNode::rotateSatelliteFrame(const iri_common_drivers_msgs::SatellitePseudorange &sat, ros::Time time_ros)
{
    Eigen::Quaterniond rotation;

    Eigen::Vector3d satVelocity(sat.v_x * scale, sat.v_y * scale, sat.v_z * scale);

    //quaternione che fa ruotare l'asse x in modo che combaci con il vettore velocita'
    rotation.setFromTwoVectors(Eigen::Vector3d::UnitX(), satVelocity);


    geometry_msgs::Quaternion odom_quat;
    odom_quat.x = rotation.x();
    odom_quat.y = rotation.y();
    odom_quat.z = rotation.z();
    odom_quat.w = rotation.w();


    // Publish the transform over tf
    geometry_msgs::TransformStamped odom_trans;
    odom_trans.header.stamp = time_ros;
    odom_trans.header.frame_id = WORLD_FRAME;				//frame padre
    odom_trans.child_frame_id = getSatelliteFrame(sat.sat_id);	//frame figlio (che sto creando ora)
    odom_trans.transform.translation.x = sat.x * scale;//traslazione dell'origine
    odom_trans.transform.translation.y = sat.y * scale;
    odom_trans.transform.translation.z = sat.z * scale;
    odom_trans.transform.rotation = odom_quat;							//rotazione

    //send the transform
    transBroadcaster.sendTransform(odom_trans);


    return rotation;
}

void VizHelperNode::publishOdometry(const iri_common_drivers_msgs::SatellitePseudorange &sat, const Eigen::Quaterniond &rotation, ros::Time time_ros)
{
    /// publish the odometry message over ROS
    nav_msgs::Odometry odom;
    odom.header.stamp = time_ros;
    odom.header.frame_id = WORLD_FRAME;

    //set the position
    odom.pose.pose.position.x = sat.x * scale;
    odom.pose.pose.position.y = sat.y * scale;
    odom.pose.pose.position.z = sat.z * scale;

    //set the orientation
    odom.pose.pose.orientation.x = rotation.x();
    odom.pose.pose.orientation.y = rotation.y();
    odom.pose.pose.orientation.z = rotation.z();
    odom.pose.pose.orientation.w = rotation.w();

    //set the velocity
    odom.child_frame_id = getSatelliteFrame(sat.sat_id);
    odom.twist.twist.linear.x = sat.v_x * scale;
    odom.twist.twist.linear.y = sat.v_y * scale;
    odom.twist.twist.linear.z = sat.v_z * scale;
    odom.twist.twist.angular.x = 0;
    odom.twist.twist.angular.y = 0;
    odom.twist.twist.angular.z = 0;

    //publish the message
    //TODO fare i singoli odom publisher
    // odomPub[index].publish(odom);
    odomAllPub.publish(odom);
}

Eigen::Quaterniond pick_positive(const Eigen::Quaterniond& other) {
  if (other.w() < 0) {
    return Eigen::Quaterniond(-other.w(), -other.x(), -other.y(), -other.z());
  } else {
    return other;
  }
}

/**
 * @function pose2Affine3d
 */
Eigen::Affine3d DartLoader::pose2Affine3d( urdf::Pose _pose ) {
    Eigen::Quaterniond quat;
    _pose.rotation.getQuaternion(quat.x(), quat.y(), quat.z(), quat.w());
    Eigen::Affine3d transform(quat);
    transform.translation() = Eigen::Vector3d(_pose.position.x, _pose.position.y, _pose.position.z);
    return transform;
}

void App::getRobotState(drc::robot_state_t& robot_state_msg, int64_t utime_in, Eigen::VectorXd q, std::vector<std::string> jointNames){
  robot_state_msg.utime = utime_in;

  // Pelvis Pose:
  robot_state_msg.pose.translation.x =q(0);
  robot_state_msg.pose.translation.y =q(1);
  robot_state_msg.pose.translation.z =q(2);

  Eigen::Quaterniond quat = euler_to_quat( q(3), q(4), q(5));

  robot_state_msg.pose.rotation.w = quat.w();
  robot_state_msg.pose.rotation.x = quat.x();
  robot_state_msg.pose.rotation.y = quat.y();
  robot_state_msg.pose.rotation.z = quat.z();

  robot_state_msg.twist.linear_velocity.x  = 0;
  robot_state_msg.twist.linear_velocity.y  = 0;
  robot_state_msg.twist.linear_velocity.z  = 0;
  robot_state_msg.twist.angular_velocity.x = 0;
  robot_state_msg.twist.angular_velocity.y = 0;
  robot_state_msg.twist.angular_velocity.z = 0;

  // Joint States:
  for (size_t i = 0; i < jointNames.size(); i++)  {
    robot_state_msg.joint_name.push_back( jointNames[i] );
    robot_state_msg.joint_position.push_back( q(i) );
    robot_state_msg.joint_velocity.push_back( 0);
    robot_state_msg.joint_effort.push_back( 0 );
  }
  robot_state_msg.num_joints = robot_state_msg.joint_position.size();
}

bool constraint_samplers::IKConstraintSampler::sample(planning_models::KinematicState::JointStateGroup *jsg, const planning_models::KinematicState &ks, unsigned int max_attempts)
{
  // make sure we at least have a chance of sampling using IK; we need at least some kind of constraint
  if (!sampling_pose_.position_constraint_ && !sampling_pose_.orientation_constraint_)
    return false;

  // load an IK solver if we need to 
  if (!loadIKSolver())
  {
    kb_.reset();
    return false;
  }

  for (unsigned int a = 0 ; a < max_attempts ; ++a)
  {
    // sample a point in the constraint region
    Eigen::Vector3d point;    
    Eigen::Quaterniond quat;
    if (!samplePose(point, quat, ks, max_attempts))
      return false;

    geometry_msgs::Pose ik_query;
    ik_query.position.x = point.x();
    ik_query.position.y = point.y();
    ik_query.position.z = point.z();
    ik_query.orientation.x = quat.x();
    ik_query.orientation.y = quat.y();
    ik_query.orientation.z = quat.z();
    ik_query.orientation.w = quat.w();        
    
    if (callIK(ik_query, ik_timeout_, jsg))
      return true; 
  }
  return false;
}

void quaternionEigenToMsg(const Eigen::Quaterniond &e, geometry_msgs::Quaternion &m)
{
    m.x = e.x();
    m.y = e.y();
    m.z = e.z();
    m.w = e.w();
}

bool RosMessageContext::getOdomPose(Eigen::Isometry3d& _trans, double time){
  bool transformFound = true;
  _tfListener->waitForTransform(_odomReferenceFrameId, _baseReferenceFrameId,
				ros::Time(time), ros::Duration(1.0));
  try{
    tf::StampedTransform t;
    _tfListener->lookupTransform(_odomReferenceFrameId, _baseReferenceFrameId,
				 ros::Time(time), t);
    Eigen::Isometry3d transform;
    transform.translation().x()=t.getOrigin().x();
    transform.translation().y()=t.getOrigin().y();
    transform.translation().z()=t.getOrigin().z();
    Eigen::Quaterniond rot;
    rot.x()=t.getRotation().x();
    rot.y()=t.getRotation().y();
    rot.z()=t.getRotation().z();
    rot.w()=t.getRotation().w();
    transform.linear()=rot.toRotationMatrix();
    _trans = transform;
    transformFound = true;
  }
  catch (tf::TransformException ex){
    ROS_ERROR("%s",ex.what());
    transformFound = false;
  }
  return transformFound;
}

geometry_msgs::Pose PoseAffineToGeomMsg(const Eigen::Affine3d &e) {
    geometry_msgs::Pose m;
    m.position.x = e.translation().x();
    m.position.y = e.translation().y();
    m.position.z = e.translation().z();
    // This is a column major vs row major matrice faux pas!
#if 0
    MatrixEXd em = e.rotation();

    Eigen::Quaterniond q = EMatrix2Quaterion(em);
#endif
    Eigen::Quaterniond q(e.rotation());
    m.orientation.x = q.x();
    m.orientation.y = q.y();
    m.orientation.z = q.z();
    m.orientation.w = q.w();
#if 0
    if (m.orientation.w < 0) {
        m.orientation.x *= -1;
        m.orientation.y *= -1;
        m.orientation.z *= -1;
        m.orientation.w *= -1;
    }
#endif
}

void RigidBody::set_attitude(Eigen::Quaterniond _attitude)
{
	attitude.w() = _attitude.w(); 
	attitude.x() = _attitude.x(); 
	attitude.y() = _attitude.y(); 
	attitude.z() = _attitude.z(); 
}