Rename vortex util types

README.md

@@ -27,4 +27,4 @@ for common QoS profile definitions, and
 ```C++
 #include <vortex/utils/types.hpp>
 ```
-for common structs like 6DOF `Eta` and `Nu`.
+for common structs like 6DOF `PoseEuler`, `Pose` and `Twist`.

cpp_test/CMakeLists.txt

@@ -8,6 +8,7 @@ add_executable(
     ${TEST_BINARY_NAME}
     test_math.cpp
     test_types.cpp
+    test_concepts.cpp
     test_ros_conversions.cpp
 )
 

cpp_test/test_concepts.cpp

@@ -0,0 +1,107 @@
+#include <string>
+#include <type_traits>
+
+#include <eigen3/Eigen/Core>
+
+#include "vortex/utils/concepts.hpp"
+
+struct HasPositionAndEuler {
+    double x, y, z;
+    double roll, pitch, yaw;
+};
+
+struct HasPositionAndEulerExtra {
+    double x, y, z;
+    double roll, pitch, yaw;
+    int extra;
+};
+
+struct HasPositionAndQuaternion {
+    double x, y, z;
+    double qw, qx, qy, qz;
+};
+
+struct PositionOnly {
+    double x, y, z;
+};
+
+struct EulerOnly {
+    double roll, pitch, yaw;
+};
+
+struct IncompleteEulerMembers {
+    double x, y, z;
+    double roll, pitch;  // missing yaw
+};
+
+struct IncompleteQuaternionMembers {
+    double x, y, z;
+    double qx, qy, qz;  // missing qw
+};
+
+struct WrongEulerMemberType {
+    double x, y, z;
+    std::string roll;  // wrong type
+    double pitch, yaw;
+};
+
+struct HasEulerAndQuaternionMembers {
+    double x, y, z;
+    double roll, pitch, yaw;
+    double qw, qx, qy, qz;
+};
+
+// ---------- PositionLike ----------
+
+static_assert(vortex::utils::concepts::PositionLike<HasPositionAndEuler>);
+static_assert(vortex::utils::concepts::PositionLike<HasPositionAndQuaternion>);
+static_assert(vortex::utils::concepts::PositionLike<PositionOnly>);
+static_assert(!vortex::utils::concepts::PositionLike<EulerOnly>);
+
+// ---------- EulerLike ----------
+
+static_assert(vortex::utils::concepts::EulerLike<HasPositionAndEuler>);
+static_assert(vortex::utils::concepts::EulerLike<HasPositionAndEulerExtra>);
+static_assert(!vortex::utils::concepts::EulerLike<HasPositionAndQuaternion>);
+static_assert(!vortex::utils::concepts::EulerLike<IncompleteEulerMembers>);
+static_assert(!vortex::utils::concepts::EulerLike<WrongEulerMemberType>);
+
+// ---------- QuaternionLike ----------
+
+static_assert(
+    vortex::utils::concepts::QuaternionLike<HasPositionAndQuaternion>);
+static_assert(!vortex::utils::concepts::QuaternionLike<HasPositionAndEuler>);
+static_assert(
+    !vortex::utils::concepts::QuaternionLike<IncompleteQuaternionMembers>);
+
+// ---------- Pose Concepts ----------
+
+static_assert(vortex::utils::concepts::EulerPoseLike<HasPositionAndEuler>);
+static_assert(vortex::utils::concepts::EulerPoseLike<HasPositionAndEulerExtra>);
+static_assert(
+    !vortex::utils::concepts::EulerPoseLike<HasPositionAndQuaternion>);
+
+static_assert(vortex::utils::concepts::QuatPoseLike<HasPositionAndQuaternion>);
+static_assert(!vortex::utils::concepts::QuatPoseLike<HasPositionAndEuler>);
+
+static_assert(!vortex::utils::concepts::PoseLike<HasEulerAndQuaternionMembers>,
+              "Types exposing both Euler and Quaternion representations must "
+              "be rejected");
+
+static_assert(vortex::utils::concepts::PoseLike<HasPositionAndEuler>);
+static_assert(vortex::utils::concepts::PoseLike<HasPositionAndQuaternion>);
+static_assert(!vortex::utils::concepts::PoseLike<IncompleteEulerMembers>);
+static_assert(!vortex::utils::concepts::PoseLike<WrongEulerMemberType>);
+
+// ---------- Eigen Tests ----------
+
+static_assert(
+    !vortex::utils::concepts::EulerPoseLike<Eigen::Matrix<double, 6, 1>>,
+    "Eigen::Vector6d should NOT satisfy EulerPoseLike without adapters");
+
+static_assert(
+    !vortex::utils::concepts::QuatPoseLike<Eigen::Matrix<double, 7, 1>>,
+    "Eigen::Vector7d should NOT satisfy QuatPoseLike");
+
+static_assert(!vortex::utils::concepts::PositionLike<Eigen::Vector3d>,
+              "Eigen::Vector3d must NOT satisfy PositionLike");