hpp-constraints 6.0.0
Definition of basic geometric constraints for motion planning
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manipulability.hh
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1// Copyright (c) 2018 CNRS
2// Authors: Joseph Mirabel
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
7// met:
8//
9// 1. Redistributions of source code must retain the above copyright
10// notice, this list of conditions and the following disclaimer.
11//
12// 2. Redistributions in binary form must reproduce the above copyright
13// notice, this list of conditions and the following disclaimer in the
14// documentation and/or other materials provided with the distribution.
15//
16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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27// DAMAGE.
28
29#ifndef HPP_CONSTRAINTS_MANIPULABILITY_HH
30#define HPP_CONSTRAINTS_MANIPULABILITY_HH
31
36
37namespace hpp {
38namespace constraints {
40typedef shared_ptr<Manipulability> ManipulabilityPtr_t;
41
44
47 public:
48 virtual ~Manipulability() {}
49
51 DevicePtr_t robot, std::string name) {
52 return ManipulabilityPtr_t(new Manipulability(function, robot, name));
53 }
54
55 protected:
61 std::string name);
62
63 void impl_compute(LiegroupElementRef result, vectorIn_t argument) const;
64
65 void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const;
66
67 bool isEqual(const DifferentiableFunction& other) const {
68 const Manipulability& castother =
69 dynamic_cast<const Manipulability&>(other);
70 if (!DifferentiableFunction::isEqual(other)) return false;
71
72 if (function_ != castother.function_) return false;
73 if (robot_ != castother.robot_) return false;
74 if (cols_.cols() != castother.cols_.cols()) return false;
75 if (J_ != castother.J_) return false;
76 if (J_JT_ != castother.J_JT_) return false;
77
78 return true;
79 }
80
81 private:
83 DevicePtr_t robot_;
84
86
87 mutable matrix_t J_, J_JT_;
88}; // class Manipulability
90} // namespace constraints
91} // namespace hpp
92
93#endif // HPP_CONSTRAINTS_MANIPULABILITY_HH
const ColIndices_t & cols() const
Definition matrix-view.hh:679
Definition differentiable-function.hh:63
Differentiable function.
Definition manipulability.hh:46
void impl_compute(LiegroupElementRef result, vectorIn_t argument) const
User implementation of function evaluation.
void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const
bool isEqual(const DifferentiableFunction &other) const
Definition manipulability.hh:67
virtual ~Manipulability()
Definition manipulability.hh:48
static ManipulabilityPtr_t create(DifferentiableFunctionPtr_t function, DevicePtr_t robot, std::string name)
Definition manipulability.hh:50
Manipulability(DifferentiableFunctionPtr_t function, DevicePtr_t robot, std::string name)
Concrete class constructor should call this constructor.
#define HPP_CONSTRAINTS_DLLAPI
Definition config.hh:88
HPP_PREDEF_CLASS(DifferentiableFunction)
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:109
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition fwd.hh:113
pinocchio::vectorIn_t vectorIn_t
Definition fwd.hh:60
shared_ptr< Manipulability > ManipulabilityPtr_t
Definition manipulability.hh:40
pinocchio::matrix_t matrix_t
Definition fwd.hh:56
Eigen::Ref< matrix_t > matrixOut_t
Definition fwd.hh:58
pinocchio::LiegroupElementRef LiegroupElementRef
Definition fwd.hh:66
Definition active-set-differentiable-function.hh:36