config_util.cpp

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#include <math.h>
#include <assert.h>
#include "config_util.h"
#include "math_util.h"
#include "rotations.h"
#include "small_linalg.h"

static int 
_config_util_get_quat (Config *cfg, const char *name, double quat[4])
{
    char key[256];
    sprintf(key, "calibration.%s.orientation", name);
    if (config_has_key(cfg, key)) {
        int sz = config_get_double_array(cfg, key, quat, 4);
        assert(sz==4);
        return 0;
    }

    sprintf(key, "calibration.%s.rpy", name);
    if (config_has_key(cfg, key)) {
        double rpy[3];
        int sz = config_get_double_array(cfg, key, rpy, 3);
        assert(sz == 3);
        int i;
        for (i = 0; i < 3; i++)
            rpy[i] = to_radians(rpy[i]);
        rot_roll_pitch_yaw_to_quat(rpy, quat);
        return 0;
    }

    sprintf(key, "calibration.%s.angleaxis", name);
    if (config_has_key(cfg, key)) {
        double aa[4];
        int sz = config_get_double_array(cfg, key, aa, 4);
        assert(sz==4);

        double theta = aa[0];
        double s = sin(theta/2);

        quat[0] = cos(theta/2);
        int i;
        for (i = 1; i < 4; i++)
            quat[i] = aa[i] * s;
        return 0;
    }
    return -1;
}

int config_util_get_quat(Config *cfg, const char *name, double quat[4])
{
    int result = _config_util_get_quat (cfg, name, quat);
    return result;
}

int config_util_get_pos(Config *cfg, const char *name, double pos[3])
{
    char key[256];

    sprintf(key, "calibration.%s.position", name);
    if (config_has_key(cfg, key)) {
        int sz = config_get_double_array(cfg, key, pos, 3);
        assert(sz==3);
        return 0;
    } 
    return -1;
}

int config_util_get_matrix(Config *cfg, const char *name, double m[16])
{
    double quat[4];
    double pos[3];

    if (config_util_get_quat(cfg, name, quat))
        return -1;

    if (config_util_get_pos(cfg, name, pos))
        return -1;

    rot_quat_pos_to_matrix(quat, pos, m);

    return 0;
}

// compute the sensor-to-local rigid body transformation matrix for a
// specific sensor, given a vehicle pose.
int 
config_util_sensor_to_local_with_pose(Config *config, 
        const char *name, double m[16], 
        lcmtypes_pose_t *p)
{
    double body_to_local[16];

    rot_quat_pos_to_matrix(p->orientation, p->pos, body_to_local);

    double sensor_to_calibration[16];

    if (config_util_get_matrix(config, name, sensor_to_calibration))
        return -1;

    char key[128];
    sprintf(key,"calibration.%s.relative_to", name);

    char *calib_frame = config_get_str_or_fail(config, key);
    if (!strcmp(calib_frame, "body")) {

        matrix_multiply_4x4_4x4(body_to_local, sensor_to_calibration, m);

    } else {
        double calibration_to_body[16];
        
        if (config_util_get_matrix(config, calib_frame, calibration_to_body))
            return -1;

        double sensor_to_body[16];
        matrix_multiply_4x4_4x4(calibration_to_body, sensor_to_calibration, 
                                sensor_to_body);
        matrix_multiply_4x4_4x4(body_to_local, sensor_to_body, m);
    }

    return 0;
}