feat(slam): add rtabmap_ros

rtabmap/app/android/jni/tango-gl/transform.cpp

@@ -0,0 +1,92 @@
+/*
+ * Copyright 2014 Google 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.
+ */
+
+#include "tango-gl/transform.h"
+#include "tango-gl/util.h"
+
+#define nullptr 0
+
+namespace tango_gl {
+
+Transform::Transform()
+  : parent_(nullptr),
+    position_(0.0f, 0.0f, 0.0f),
+    rotation_(1.0f, 0.0f, 0.0f, 0.0f),
+    scale_(1.0f, 1.0f, 1.0f) {
+}
+
+Transform::~Transform() {
+  // Objects are not responsible for deleting their parents.
+}
+
+void Transform::SetPosition(const glm::vec3& position) {
+  position_ = position;
+}
+
+glm::vec3 Transform::GetPosition() const {
+  return position_;
+}
+
+void Transform::SetRotation(const glm::quat& rotation) {
+  rotation_ = rotation;
+}
+
+glm::quat Transform::GetRotation() const {
+  return rotation_;
+}
+
+void Transform::SetScale(const glm::vec3& scale) {
+  scale_ = scale;
+}
+
+glm::vec3 Transform::GetScale() const {
+  return scale_;
+}
+
+void Transform::Translate(const glm::vec3& translation) {
+  position_ += translation;
+}
+
+void Transform::SetTransformationMatrix(const glm::mat4& transform_mat) {
+  util::DecomposeMatrix(transform_mat, position_, rotation_, scale_);
+}
+
+glm::mat4 Transform::GetTransformationMatrix() const {
+  glm::mat4 trans_mat = glm::scale(glm::mat4_cast(rotation_), scale_);
+  trans_mat[3][0] = position_.x;
+  trans_mat[3][1] = position_.y;
+  trans_mat[3][2] = position_.z;
+  glm::mat4 parent_mat = glm::mat4(1.0f);
+  if (parent_ != NULL) {
+    parent_mat = parent_->GetTransformationMatrix();
+    trans_mat = parent_mat * trans_mat;
+  }
+  return  trans_mat;
+}
+
+void Transform::SetParent(Transform* transform) {
+  parent_ = transform;
+}
+
+const Transform* Transform::GetParent() const {
+  return parent_;
+}
+
+Transform* Transform::GetParent() {
+  return parent_;
+}
+
+}  // namespace tango_gl