relative-com.hh

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//
// Copyright (c) 2014 CNRS
// Authors: Florent Lamiraux
//
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// DAMAGE.
 
#ifndef HPP_CONSTRAINTS_RELATIVE_COM_HH
#define HPP_CONSTRAINTS_RELATIVE_COM_HH
 
#include <hpp/constraints/config.hh>
#include <hpp/constraints/differentiable-function.hh>
#include <hpp/constraints/fwd.hh>
 
namespace hpp {
namespace constraints {
 
 
class HPP_CONSTRAINTS_DLLAPI RelativeCom : public DifferentiableFunction {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  static RelativeComPtr_t create(
      const DevicePtr_t& robot, const JointPtr_t& joint,
      const vector3_t reference,
      std::vector<bool> mask = std::vector<bool>(3, true)) {
    return create("RelativeCom", robot, joint, reference, mask);
  }
  static RelativeComPtr_t create(
      const std::string& name, const DevicePtr_t& robot,
      const JointPtr_t& joint, const vector3_t reference,
      std::vector<bool> mask = std::vector<bool>(3, true));
  static RelativeComPtr_t create(
      const DevicePtr_t& robot, const CenterOfMassComputationPtr_t& comc,
      const JointPtr_t& joint, const vector3_t reference,
      std::vector<bool> mask = std::vector<bool>(3, true));
  static RelativeComPtr_t create(
      const std::string& name, const DevicePtr_t& robot,
      const CenterOfMassComputationPtr_t& comc, const JointPtr_t& joint,
      const vector3_t reference,
      std::vector<bool> mask = std::vector<bool>(3, true));
  virtual ~RelativeCom() {}
  RelativeCom(const DevicePtr_t& robot,
              const CenterOfMassComputationPtr_t& comc, const JointPtr_t& joint,
              const vector3_t reference, std::vector<bool> mask,
              const std::string& name);
 
  virtual std::ostream& print(std::ostream& o) const;
 
 protected:
  virtual void impl_compute(LiegroupElementRef result,
                            ConfigurationIn_t argument) const;
  virtual void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t arg) const;
 
  bool isEqual(const DifferentiableFunction& other) const {
    const RelativeCom& castother = dynamic_cast<const RelativeCom&>(other);
    if (!DifferentiableFunction::isEqual(other)) return false;
 
    if (robot_ != castother.robot_) return false;
    if (comc_ != castother.comc_) return false;
    if (joint_ != castother.joint_) return false;
    if (mask_ != castother.mask_) return false;
    if (nominalCase_ != castother.nominalCase_) return false;
 
    return true;
  }
 
 private:
  DevicePtr_t robot_;
  CenterOfMassComputationPtr_t comc_;
  JointPtr_t joint_;
  vector3_t reference_;
  std::vector<bool> mask_;
  bool nominalCase_;
  mutable ComJacobian_t jacobian_;
 
  RelativeCom() {}
  HPP_SERIALIZABLE();
};  // class RelativeCom
}  // namespace constraints
}  // namespace hpp
#endif  // HPP_CONSTRAINTS_RELATIVE_COM_HH