implicit-function.hh

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// Copyright (c) 2015 - 2018 LAAS-CNRS
// Authors: Florent Lamiraux, Joseph Mirabel
//
 
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// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
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#ifndef HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH
#define HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH
 
#include <hpp/constraints/differentiable-function.hh>
#include <hpp/constraints/matrix-view.hh>
 
namespace hpp {
namespace constraints {
namespace explicit_ {
class ImplicitFunction : public DifferentiableFunction {
 public:
  typedef shared_ptr<ImplicitFunction> Ptr_t;
 
  static Ptr_t create(const LiegroupSpacePtr_t& configSpace,
                      const DifferentiableFunctionPtr_t& function,
                      const segments_t& inputConf, const segments_t& outputConf,
                      const segments_t& inputVelocity,
                      const segments_t& outputVelocity);
 
  const DifferentiableFunctionPtr_t& inputToOutput() const;
 
 protected:
  ImplicitFunction(const LiegroupSpacePtr_t& configSpace,
                   const DifferentiableFunctionPtr_t& function,
                   const segments_t& inputConf, const segments_t& outputConf,
                   const segments_t& inputVelocity,
                   const segments_t& outputVelocity);
  void impl_compute(LiegroupElementRef result, vectorIn_t argument) const;
 
  void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const;
 
  bool isEqual(const DifferentiableFunction& other) const {
    const ImplicitFunction& castother =
        dynamic_cast<const ImplicitFunction&>(other);
    if (!DifferentiableFunction::isEqual(other)) return false;
 
    if (robot_ != castother.robot_) return false;
    if (inputToOutput_ != castother.inputToOutput_) return false;
    if (inputConfIntervals_.rows() != castother.inputConfIntervals_.rows())
      return false;
    if (outputConfIntervals_.rows() != castother.outputConfIntervals_.rows())
      return false;
    if (inputDerivIntervals_.rows() != castother.inputDerivIntervals_.rows())
      return false;
    if (outputDerivIntervals_.rows() != castother.outputDerivIntervals_.rows())
      return false;
 
    return true;
  }
 
  std::pair<JointConstPtr_t, JointConstPtr_t> dependsOnRelPoseBetween(
      DeviceConstPtr_t robot) const;
 
 private:
  void computeJacobianBlocks();
 
  DevicePtr_t robot_;
  DifferentiableFunctionPtr_t inputToOutput_;
  Eigen::RowBlockIndices inputConfIntervals_;
  Eigen::RowBlockIndices outputConfIntervals_;
  Eigen::RowBlockIndices inputDerivIntervals_;
  Eigen::RowBlockIndices outputDerivIntervals_;
  std::vector<Eigen::MatrixBlocks<false, false> > outJacobian_;
  std::vector<Eigen::MatrixBlocks<false, false> > inJacobian_;
  mutable vector_t qIn_;
  mutable LiegroupElement f_qIn_, qOut_;
  mutable LiegroupElement result_;
  // Jacobian of explicit function
  mutable matrix_t Jf_;
 
  ImplicitFunction() {}
  HPP_SERIALIZABLE();
};  // class ImplicitFunction
 
}  // namespace explicit_
}  // namespace constraints
}  // namespace hpp
 
BOOST_CLASS_EXPORT_KEY(hpp::constraints::explicit_::ImplicitFunction)
 
#endif  // HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH