/**
* Convert a PmCartesian to a crcl.PointType
*
* @param c Cartesian point to convert
* @return Point equivalent of input cartesian
*/
public static PointType toPointType(PmCartesian c) {
PointType pt = new PointType();
pt.setX(BigDecimal.valueOf(c.x));
pt.setY(BigDecimal.valueOf(c.y));
pt.setZ(BigDecimal.valueOf(c.z));
return pt;
}
public static PoseType invert(PoseType p) {
PoseType pOut = new PoseType();
VectorType xAxisIn = p.getXAxis();
VectorType zAxisIn = p.getZAxis();
VectorType yAxisIn = cross(p.getZAxis(), p.getXAxis());
VectorType xAxisOut = new VectorType();
xAxisOut.setI(p.getXAxis().getI());
xAxisOut.setJ(yAxisIn.getI());
xAxisOut.setK(p.getZAxis().getI());
pOut.setXAxis(xAxisOut);
VectorType zAxisOut = new VectorType();
zAxisOut.setI(p.getXAxis().getK());
zAxisOut.setJ(yAxisIn.getK());
zAxisOut.setK(p.getZAxis().getK());
pOut.setZAxis(zAxisOut);
// VectorType yAxisOut = cross(zAxisOut,xAxisOut);
PointType pt = new PointType();
pt.setX(dot(xAxisIn, p.getPoint()).negate());
pt.setY(dot(yAxisIn, p.getPoint()).negate());
pt.setZ(dot(zAxisIn, p.getPoint()).negate());
pOut.setPoint(pt);
return pOut;
}
public static PoseType toPose(double mat[][]) {
if (null == mat
|| mat.length != 4
|| mat[0].length != 4
|| mat[1].length != 4
|| mat[2].length != 4
|| mat[3].length != 4) {
throw new IllegalArgumentException("toPose() matrix should be 4x4");
}
PoseType newPose = new PoseType();
PointType pt = new PointType();
pt.setX(BigDecimal.valueOf(mat[0][3]));
pt.setY(BigDecimal.valueOf(mat[1][3]));
pt.setZ(BigDecimal.valueOf(mat[2][3]));
newPose.setPoint(pt);
VectorType xAxis = new VectorType();
xAxis.setI(BigDecimal.valueOf(mat[0][0]));
xAxis.setJ(BigDecimal.valueOf(mat[0][1]));
xAxis.setK(BigDecimal.valueOf(mat[0][2]));
newPose.setXAxis(xAxis);
VectorType zAxis = new VectorType();
zAxis.setI(BigDecimal.valueOf(mat[2][0]));
zAxis.setJ(BigDecimal.valueOf(mat[2][1]));
zAxis.setK(BigDecimal.valueOf(mat[2][2]));
newPose.setZAxis(zAxis);
return newPose;
}
public static PointType multiply(BigDecimal dist, PointType p) {
PointType out = new PointType();
out.setX(p.getX().multiply(dist));
out.setY(p.getY().multiply(dist));
out.setZ(p.getZ().multiply(dist));
return out;
}
public static PointType multiply(final BigDecimal dist, final VectorType v) {
PointType out = new PointType();
out.setX(v.getI().multiply(dist));
out.setY(v.getJ().multiply(dist));
out.setZ(v.getK().multiply(dist));
return out;
}
public static PointType subtract(PointType p1, PointType p2) {
PointType sum = new PointType();
sum.setX(p1.getX().subtract(p2.getX()));
sum.setY(p1.getY().subtract(p2.getY()));
sum.setZ(p1.getZ().subtract(p2.getZ()));
return sum;
}
public static PoseType identityPose() {
PoseType newPose = new PoseType();
PointType pt = new PointType();
pt.setX(BigDecimal.ZERO);
pt.setY(BigDecimal.ZERO);
pt.setZ(BigDecimal.ZERO);
newPose.setPoint(pt);
VectorType xAxis = new VectorType();
xAxis.setI(BigDecimal.ONE);
xAxis.setJ(BigDecimal.ZERO);
xAxis.setK(BigDecimal.ZERO);
newPose.setXAxis(xAxis);
VectorType zAxis = new VectorType();
zAxis.setI(BigDecimal.ZERO);
zAxis.setJ(BigDecimal.ZERO);
zAxis.setK(BigDecimal.ONE);
newPose.setZAxis(zAxis);
return newPose;
}
public static PoseType multiply(PoseType p1, PoseType p2) {
PoseType poseOut = new PoseType();
VectorType yAxis1 = cross(p1.getZAxis(), p1.getXAxis());
VectorType yAxis2 = cross(p2.getZAxis(), p2.getXAxis());
VectorType xAxisOut = new VectorType();
VectorType zAxisOut = new VectorType();
PointType pt2 = p2.getPoint();
PointType pt2rot = new PointType();
pt2rot.setX(
p1.getXAxis()
.getI()
.multiply(pt2.getX())
.add(yAxis1.getI().multiply(pt2.getY()))
.add(p1.getZAxis().getI().multiply(pt2.getZ())));
pt2rot.setY(
p1.getXAxis()
.getJ()
.multiply(pt2.getX())
.add(yAxis1.getJ().multiply(pt2.getY()))
.add(p1.getZAxis().getJ().multiply(pt2.getZ())));
pt2rot.setZ(
p1.getXAxis()
.getK()
.multiply(pt2.getX())
.add(yAxis1.getK().multiply(pt2.getY()))
.add(p1.getZAxis().getK().multiply(pt2.getZ())));
PointType pt = add(p1.getPoint(), pt2rot);
poseOut.setPoint(pt);
// xAxisOut.setI(
// p1.getXAxis().getI().multiply(p2.getXAxis().getI())
// .add(p1.getXAxis().getJ().multiply(yAxis2.getI()))
// .add(p1.getXAxis().getK().multiply(p2.getZAxis().getI()))
// );
// xAxisOut.setJ(
// p1.getXAxis().getI().multiply(p2.getXAxis().getJ())
// .add(p1.getXAxis().getJ().multiply(yAxis2.getJ()))
// .add(p1.getXAxis().getK().multiply(p2.getZAxis().getJ()))
// );
// xAxisOut.setK(
// p1.getXAxis().getI().multiply(p2.getXAxis().getK())
// .add(p1.getXAxis().getJ().multiply(yAxis2.getK()))
// .add(p1.getXAxis().getK().multiply(p2.getZAxis().getK()))
// );
xAxisOut.setI(
p1.getXAxis()
.getI()
.multiply(p2.getXAxis().getI())
.add(yAxis1.getI().multiply(p2.getXAxis().getJ()))
.add(p1.getZAxis().getI().multiply(p2.getXAxis().getK())));
xAxisOut.setJ(
p1.getXAxis()
.getJ()
.multiply(p2.getXAxis().getI())
.add(yAxis1.getJ().multiply(p2.getXAxis().getJ()))
.add(p1.getZAxis().getJ().multiply(p2.getXAxis().getK())));
xAxisOut.setK(
p1.getXAxis()
.getK()
.multiply(p2.getXAxis().getI())
.add(yAxis1.getK().multiply(p2.getXAxis().getJ()))
.add(p1.getZAxis().getK().multiply(p2.getXAxis().getK())));
poseOut.setXAxis(xAxisOut);
zAxisOut.setI(
p1.getXAxis()
.getI()
.multiply(p2.getZAxis().getI())
.add(yAxis1.getI().multiply(p2.getZAxis().getJ()))
.add(p1.getZAxis().getI().multiply(p2.getZAxis().getK())));
zAxisOut.setJ(
p1.getXAxis()
.getJ()
.multiply(p2.getZAxis().getI())
.add(yAxis1.getJ().multiply(p2.getZAxis().getJ()))
.add(p1.getZAxis().getJ().multiply(p2.getZAxis().getK())));
zAxisOut.setK(
p1.getXAxis()
.getK()
.multiply(p2.getZAxis().getI())
.add(yAxis1.getK().multiply(p2.getZAxis().getJ()))
.add(p1.getZAxis().getK().multiply(p2.getZAxis().getK())));
poseOut.setZAxis(zAxisOut);
return poseOut;
}
