translation.h

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// Copyright (c) 2011, Hauke Strasdat
// Copyright (c) 2012, Steven Lovegrove
// Copyright (c) 2021, farm-ng, inc.
//
// Use of this source code is governed by an MIT-style
// license that can be found in the LICENSE file or at
// https://opensource.org/licenses/MIT.
 
#pragma once
 
#include "sophus/concepts/group_accessors.h"
#include "sophus/lie/impl/identity.h"
#include "sophus/lie/impl/translation_factor_group_product.h"
#include "sophus/lie/lie_group.h"
 
namespace sophus {
 
template <class TScalar, int kDim>
class Translation;
 
namespace lie {
template <int kDim>
struct TranslationWithDim {
  template <class TScalar>
  using Group = Translation<TScalar, kDim>;
};
 
}  // namespace lie
 
// scale and direction preserving mapping
template <class TScalar, int kDim>
class Translation : public lie::Group<
                        lie::TranslationWithDim<kDim>::template Group,
                        TScalar,
                        lie::WithDimAndSubgroup<
                            kDim,
                            lie::IdentityWithDim<kDim>::template Impl>::
                            template SemiDirectProduct> {
 public:
  using Scalar = TScalar;
  using Base = lie::Group<
      lie::TranslationWithDim<kDim>::template Group,
      TScalar,
      lie::WithDimAndSubgroup<kDim, lie::IdentityWithDim<kDim>::template Impl>::
          template SemiDirectProduct>;
 
  using Tangent = typename Base::Tangent;
  using Params = typename Base::Params;
  using Point = typename Base::Point;
 
  Translation() = default;
 
  Translation(Eigen::Vector<Scalar, kDim> const& translation) {
    this->params_ = translation;
  }
 
  explicit Translation(UninitTag /*unused*/) {}
 
  template <class TOtherScalar>
  auto cast() const -> Translation<TOtherScalar, kDim> {
    return Translation<TOtherScalar, kDim>::fromParams(
        this->params_.template cast<TOtherScalar>());
  }
 
  auto translation() -> Point& { return this->params_; }
 
  [[nodiscard]] auto translation() const -> Point const& {
    return this->params_;
  }
};
 
template <class TScalar>
using Translation2 = Translation<TScalar, 2>;
template <class TScalar>
using Translation3 = Translation<TScalar, 3>;
 
using Translation2F32 = Translation2<float>;
using Translation2F64 = Translation2<double>;
 
using Translation3F32 = Translation3<float>;
using Translation3F64 = Translation3<double>;
 
static_assert(concepts::Translation<Translation3F64>);
 
}  // namespace sophus