hpp-constraints 6.0.0
Definition of basic geometric constraints for motion planning
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distance-between-points-in-bodies.hh
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1//
2// Copyright (c) 2015 CNRS
3// Authors: Florent Lamiraux
4//
5//
6
7// Redistribution and use in source and binary forms, with or without
8// modification, are permitted provided that the following conditions are
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11// 1. Redistributions of source code must retain the above copyright
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14// 2. Redistributions in binary form must reproduce the above copyright
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30
31#ifndef HPP_CONSTRAINTS_DISTANCE_BETWEEN_POINTS_IN_BODIES_HH
32#define HPP_CONSTRAINTS_DISTANCE_BETWEEN_POINTS_IN_BODIES_HH
33
35#include <hpp/pinocchio/liegroup-element.hh>
36
37namespace hpp {
38namespace constraints {
39
48 : public DifferentiableFunction {
49 public:
50 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
51
60 static DistanceBetweenPointsInBodiesPtr_t create(const std::string& name,
61 const DevicePtr_t& robot,
62 const JointPtr_t& joint1,
63 const JointPtr_t& joint2,
64 const vector3_t& point1,
65 const vector3_t& point2);
66
74 static DistanceBetweenPointsInBodiesPtr_t create(const std::string& name,
75 const DevicePtr_t& robot,
76 const JointPtr_t& joint1,
77 const vector3_t& point1,
78 const vector3_t& point2);
79
81
82 protected:
89 DistanceBetweenPointsInBodies(const std::string& name,
90 const DevicePtr_t& robot,
91 const JointPtr_t& joint1,
92 const JointPtr_t& joint2,
93 const vector3_t& point1,
94 const vector3_t& point2);
95
101 DistanceBetweenPointsInBodies(const std::string& name,
102 const DevicePtr_t& robot,
103 const JointPtr_t& joint1,
104 const vector3_t& point1,
105 const vector3_t& point2);
106
107 virtual void impl_compute(LiegroupElementRef result,
108 ConfigurationIn_t argument) const;
109 virtual void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t arg) const;
110
111 bool isEqual(const DifferentiableFunction& other) const {
112 const DistanceBetweenPointsInBodies& castother =
113 dynamic_cast<const DistanceBetweenPointsInBodies&>(other);
114 if (!DifferentiableFunction::isEqual(other)) return false;
115
116 if (robot_ != castother.robot_) return false;
117 if (joint1_ != castother.joint1_) return false;
118 if (joint2_ != castother.joint2_) return false;
119 if (point1_ != castother.point1_) return false;
120 if (point2_ != castother.point2_) return false;
121
122 return true;
123 }
124
125 private:
126 DevicePtr_t robot_;
127 JointPtr_t joint1_;
128 JointPtr_t joint2_;
129 vector3_t point1_;
130 vector3_t point2_;
131 mutable vector3_t global1_;
132 mutable vector3_t global2_;
133 mutable Configuration_t latestArgument_;
134 mutable LiegroupElement latestResult_;
135}; // class DistanceBetweenPointsInBodies
136} // namespace constraints
137} // namespace hpp
138
139#endif // HPP_CONSTRAINTS_DISTANCE_BETWEEN_POINTS_IN_BODIES_HH
Definition differentiable-function.hh:63
Definition distance-between-points-in-bodies.hh:48
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW DistanceBetweenPointsInBodiesPtr_t create(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2)
virtual void impl_compute(LiegroupElementRef result, ConfigurationIn_t argument) const
virtual void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t arg) const
virtual ~DistanceBetweenPointsInBodies()
Definition distance-between-points-in-bodies.hh:80
DistanceBetweenPointsInBodies(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const vector3_t &point1, const vector3_t &point2)
DistanceBetweenPointsInBodies(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2)
static DistanceBetweenPointsInBodiesPtr_t create(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const vector3_t &point1, const vector3_t &point2)
bool isEqual(const DifferentiableFunction &other) const
Definition distance-between-points-in-bodies.hh:111
#define HPP_CONSTRAINTS_DLLAPI
Definition config.hh:88
pinocchio::LiegroupElement LiegroupElement
Definition fwd.hh:65
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:105
pinocchio::vector3_t vector3_t
Definition fwd.hh:52
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:109
shared_ptr< DistanceBetweenPointsInBodies > DistanceBetweenPointsInBodiesPtr_t
Definition fwd.hh:119
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:106
Eigen::Ref< matrix_t > matrixOut_t
Definition fwd.hh:58
pinocchio::LiegroupElementRef LiegroupElementRef
Definition fwd.hh:66
pinocchio::JointPtr_t JointPtr_t
Definition fwd.hh:49
Definition active-set-differentiable-function.hh:36