relative-pose.hh

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// Copyright (c) 2018, LAAS-CNRS
// Authors: Florent Lamiraux
//
 
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// modification, are permitted provided that the following conditions are
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//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright
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#ifndef HPP_CONSTRAINTS_EXPLICIT_RELATIVE_POSE_HH
#define HPP_CONSTRAINTS_EXPLICIT_RELATIVE_POSE_HH
 
#include <hpp/constraints/explicit.hh>
#include <pinocchio/spatial/se3.hpp>
 
namespace hpp {
namespace constraints {
namespace explicit_ {
class HPP_CONSTRAINTS_DLLAPI RelativePose : public Explicit {
 public:
  virtual ImplicitPtr_t copy() const;
  static RelativePosePtr_t create(
      const std::string& name, const DevicePtr_t& robot,
      const JointConstPtr_t& joint1, const JointConstPtr_t& joint2,
      const Transform3s& frame1, const Transform3s& frame2,
      ComparisonTypes_t comp, std::vector<bool> mask = std::vector<bool>());
 
  static RelativePosePtr_t createCopy(const RelativePosePtr_t& other);
 
  virtual void outputValue(LiegroupElementRef result, vectorIn_t qin,
                           LiegroupElementConstRef rhs) const;
 
  virtual void jacobianOutputValue(vectorIn_t qin,
                                   LiegroupElementConstRef f_value,
                                   LiegroupElementConstRef rhs,
                                   matrixOut_t jacobian) const;
 
 protected:
  RelativePose(const std::string& name, const DevicePtr_t& robot,
               const JointConstPtr_t& joint1, const JointConstPtr_t& joint2,
               const Transform3s& frame1, const Transform3s& frame2,
               ComparisonTypes_t comp = ComparisonTypes_t(),
               std::vector<bool> mask = std::vector<bool>(6, true));
 
  RelativePose(const RelativePose& other);
 
  void init(RelativePoseWkPtr_t weak);
 
 private:
  void implicitToExplicitRhs(LiegroupElementConstRef implicitRhs,
                             vectorOut_t explicitRhs) const;
  void explicitToImplicitRhs(vectorIn_t explicitRhs,
                             LiegroupElementRef implicitRhs) const;
  // Create LiegroupSpace instances to avoid useless allocation.
  static LiegroupSpacePtr_t SE3;
  static LiegroupSpacePtr_t R3xSO3;
  JointConstPtr_t joint1_, joint2_;
  Transform3s frame1_;
  Transform3s frame2_;
  RelativePoseWkPtr_t weak_;
 
  RelativePose() {}
  HPP_SERIALIZABLE();
};  // class RelativePose
}  // namespace explicit_
}  // namespace constraints
}  // namespace hpp
 
BOOST_CLASS_EXPORT_KEY(hpp::constraints::explicit_::RelativePose)
 
#endif  // HPP_CONSTRAINTS_EXPLICIT_RELATIVE_POSE_HH