From fde7bd3f634c6dfa1ee255bf8dddba3b129aa43e Mon Sep 17 00:00:00 2001
From: Islam Abed <islam.abed@partner.bmw.de>
Date: Mon, 11 Apr 2022 16:24:06 +0200
Subject: [PATCH] Add interface function for points and polyline transformation
---
.../MantleAPI/Common/i_geometry_helper.h | 22 +++++++++++++++++
MantleAPI/test/MantleAPI/Test/test_utils.h | 24 ++++++++++++++++++-
2 files changed, 45 insertions(+), 1 deletion(-)
diff --git a/MantleAPI/include/MantleAPI/Common/i_geometry_helper.h b/MantleAPI/include/MantleAPI/Common/i_geometry_helper.h
index 086abcdc..49992f81 100644
--- a/MantleAPI/include/MantleAPI/Common/i_geometry_helper.h
+++ b/MantleAPI/include/MantleAPI/Common/i_geometry_helper.h
@@ -17,6 +17,8 @@
#include <MantleAPI/Common/pose.h>
+#include <vector>
+
namespace mantle_api
{
/// Interface that provides functionality to perform geometrical calculations
@@ -36,6 +38,26 @@ public:
const Vec3<units::length::meter_t>& global_position,
const Orientation3<units::angle::radian_t>& local_orientation,
const Vec3<units::length::meter_t>& local_translation) const = 0;
+
+ /// @brief Transforms world polyline positions to local coordinate system.
+ /// @param polyline_points world polyline points to be transformed
+ /// @param position local system position
+ /// @param orientation local system orientation
+ /// @return converted polyline points
+ virtual std::vector<Vec3<units::length::meter_t>> TransformPolylinePointsFromWorldToLocal(
+ const std::vector<Vec3<units::length::meter_t>>& polyline_points,
+ const Vec3<units::length::meter_t>& position,
+ const Orientation3<units::angle::radian_t>& orientation) const = 0;
+
+ /// @brief Transforms world position to local coordinate system.
+ /// @param point_position world point position to be transformed
+ /// @param position local system position
+ /// @param orientation local system orientation
+ /// @return transformed point
+ virtual Vec3<units::length::meter_t> TransformPointPositionFromWorldToLocal(
+ const Vec3<units::length::meter_t>& point_position,
+ const Vec3<units::length::meter_t>& position,
+ const Orientation3<units::angle::radian_t>& orientation) const = 0;
};
} // namespace mantle_api
diff --git a/MantleAPI/test/MantleAPI/Test/test_utils.h b/MantleAPI/test/MantleAPI/Test/test_utils.h
index 2522c5b6..e6428c79 100644
--- a/MantleAPI/test/MantleAPI/Test/test_utils.h
+++ b/MantleAPI/test/MantleAPI/Test/test_utils.h
@@ -43,7 +43,29 @@ public:
std::ignore = local_orientation;
std::ignore = local_translation;
return global_position;
- };
+ }
+
+ virtual std::vector<Vec3<units::length::meter_t>> TransformPolylinePointsFromWorldToLocal(
+ const std::vector<Vec3<units::length::meter_t>>& polyline_points,
+ const Vec3<units::length::meter_t>& position,
+ const Orientation3<units::angle::radian_t>& orientation) const
+ {
+ // do not translate but return original points
+ std::ignore = position;
+ std::ignore = orientation;
+ return polyline_points;
+ }
+
+ virtual Vec3<units::length::meter_t> TransformPointPositionFromWorldToLocal(
+ const Vec3<units::length::meter_t>& point_position,
+ const Vec3<units::length::meter_t>& position,
+ const Orientation3<units::angle::radian_t>& orientation) const
+ {
+ // do not translate but return original points
+ std::ignore = position;
+ std::ignore = orientation;
+ return point_position;
+ }
};
class MockConverter : public mantle_api::ICoordConverter
--
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