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| "Tschirnhaus", | ||
| "walltime", | ||
| "xerces", | ||
| "xercesc" | ||
| "xercesc", | ||
| "Szymon", | ||
| "Parapura" | ||
| ] | ||
| } | ||
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| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>arithmetic</name> | ||
| <version>7.0.0</version> | ||
| <version>7.3.1</version> | ||
| <description>arithmetic library for scenario_simulator_v2</description> | ||
| <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer> | ||
| <license>Apache License 2.0</license> | ||
|
|
||
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| // Copyright 2015 TIER IV, Inc. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #ifndef GEOMETRY__PLANE_HPP_ | ||
| #define GEOMETRY__PLANE_HPP_ | ||
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| #include <geometry_msgs/msg/point.hpp> | ||
| #include <geometry_msgs/msg/vector3.hpp> | ||
| #include <optional> | ||
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| namespace math | ||
| { | ||
| namespace geometry | ||
| { | ||
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| /// @class Plane | ||
| /// @brief Represents a plane in 3D space, defined by a normal vector and a point on the plane. | ||
| /// | ||
| /// The plane is described using the equation: | ||
| /// Ax + By + Cz + D = 0 | ||
| /// where: | ||
| /// - A, B, C are the components of the normal vector (normal_ attribute). | ||
| /// - D is the offset from the origin, calculated using the point and normal vector (d_ attribute). | ||
| struct Plane | ||
| { | ||
| Plane(const geometry_msgs::msg::Point & point, const geometry_msgs::msg::Vector3 & normal); | ||
| auto offset(const geometry_msgs::msg::Point & point) const -> double; | ||
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| const geometry_msgs::msg::Vector3 normal_; | ||
| const double d_; | ||
| }; | ||
| } // namespace geometry | ||
| } // namespace math | ||
| #endif // GEOMETRY__PLANE_HPP_ |
39 changes: 39 additions & 0 deletions
39
common/math/geometry/include/geometry/quaternion/get_angle_difference.hpp
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| // Copyright 2015 TIER IV, Inc. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #ifndef GEOMETRY__QUATERNION__GET_ANGLE_DIFFERENCE_HPP_ | ||
| #define GEOMETRY__QUATERNION__GET_ANGLE_DIFFERENCE_HPP_ | ||
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| #include <Eigen/Geometry> | ||
| #include <geometry/quaternion/is_like_quaternion.hpp> | ||
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| namespace math | ||
| { | ||
| namespace geometry | ||
| { | ||
| template < | ||
| typename T, std::enable_if_t<std::conjunction_v<IsLikeQuaternion<T>>, std::nullptr_t> = nullptr> | ||
| auto getAngleDifference(const T & quat1, const T & quat2) -> double | ||
| { | ||
| const Eigen::Quaterniond q1(quat1.w, quat1.x, quat1.y, quat1.z); | ||
| const Eigen::Quaterniond q2(quat2.w, quat2.x, quat2.y, quat2.z); | ||
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| const Eigen::AngleAxisd delta(q1.inverse() * q2); | ||
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| return std::abs(delta.angle()); // [rad] | ||
| } | ||
| } // namespace geometry | ||
| } // namespace math | ||
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| #endif // GEOMETRY__QUATERNION__GET_ANGLE_DIFFERENCE_HPP_ |
41 changes: 41 additions & 0 deletions
41
common/math/geometry/include/geometry/quaternion/get_normal_vector.hpp
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| // Copyright 2015 TIER IV, Inc. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #ifndef GEOMETRY__VECTOR3__GET_NORMAL_VECTOR_HPP_ | ||
| #define GEOMETRY__VECTOR3__GET_NORMAL_VECTOR_HPP_ | ||
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| #include <geometry/quaternion/get_rotation_matrix.hpp> | ||
| #include <geometry/quaternion/is_like_quaternion.hpp> | ||
| #include <geometry_msgs/msg/vector3.hpp> | ||
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| namespace math | ||
| { | ||
| namespace geometry | ||
| { | ||
| template < | ||
| typename T, std::enable_if_t<std::conjunction_v<IsLikeQuaternion<T>>, std::nullptr_t> = nullptr> | ||
| auto getNormalVector(const T & orientation) -> geometry_msgs::msg::Vector3 | ||
| { | ||
| const Eigen::Matrix3d rotation_matrix = getRotationMatrix(orientation); | ||
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| return geometry_msgs::build<geometry_msgs::msg::Vector3>() | ||
| .x(rotation_matrix(0, 2)) | ||
| .y(rotation_matrix(1, 2)) | ||
| .z(rotation_matrix(2, 2)); | ||
| } | ||
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| } // namespace geometry | ||
| } // namespace math | ||
|
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| #endif // GEOMETRY__VECTOR3__GET_NORMAL_VECTOR_HPP_ |
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| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>geometry</name> | ||
| <version>7.0.0</version> | ||
| <version>7.3.1</version> | ||
| <description>geometry math library for scenario_simulator_v2 application</description> | ||
| <maintainer email="[email protected]">Masaya Kataoka</maintainer> | ||
| <license>Apache License 2.0</license> | ||
|
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