| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2015 CNRS |
| 3 |
|
|
// Authors: Joseph Mirabel |
| 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 |
| 9 |
|
|
// met: |
| 10 |
|
|
// |
| 11 |
|
|
// 1. Redistributions of source code must retain the above copyright |
| 12 |
|
|
// notice, this list of conditions and the following disclaimer. |
| 13 |
|
|
// |
| 14 |
|
|
// 2. Redistributions in binary form must reproduce the above copyright |
| 15 |
|
|
// notice, this list of conditions and the following disclaimer in the |
| 16 |
|
|
// documentation and/or other materials provided with the distribution. |
| 17 |
|
|
// |
| 18 |
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 19 |
|
|
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 20 |
|
|
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
| 21 |
|
|
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
| 22 |
|
|
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
| 23 |
|
|
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
| 24 |
|
|
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
| 25 |
|
|
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
| 26 |
|
|
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
| 27 |
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| 28 |
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
| 29 |
|
|
// DAMAGE. |
| 30 |
|
|
|
| 31 |
|
|
#ifndef HPP_CONSTRAINTS_COM_BETWEEN_FEET_HH |
| 32 |
|
|
#define HPP_CONSTRAINTS_COM_BETWEEN_FEET_HH |
| 33 |
|
|
|
| 34 |
|
|
#include <hpp/constraints/config.hh> |
| 35 |
|
|
#include <hpp/constraints/differentiable-function.hh> |
| 36 |
|
|
#include <hpp/constraints/fwd.hh> |
| 37 |
|
|
#include <hpp/constraints/symbolic-calculus.hh> |
| 38 |
|
|
#include <hpp/constraints/tools.hh> |
| 39 |
|
|
|
| 40 |
|
|
namespace hpp { |
| 41 |
|
|
namespace constraints { |
| 42 |
|
|
|
| 43 |
|
|
/** |
| 44 |
|
|
* Constraint on the relative position of the center of mass |
| 45 |
|
|
* |
| 46 |
|
|
* The value of the function is defined as the position of the center |
| 47 |
|
|
* of mass in the reference frame of a joint. |
| 48 |
|
|
* |
| 49 |
|
|
* \f{eqnarray*} |
| 50 |
|
|
* \mathbf{f}(\mathbf{q}) &=& |
| 51 |
|
|
* \left(\begin{array}{c} |
| 52 |
|
|
* ( x_{com} - x_{ref} ) \cdot u_z \\ |
| 53 |
|
|
* ( R^T (e \wedge u) ) \cdot u_z \\ |
| 54 |
|
|
* ( x_{com} - x_L ) \cdot (u)\\ |
| 55 |
|
|
* ( x_{com} - x_R ) \cdot (u)\\ |
| 56 |
|
|
* \end{array}\right) |
| 57 |
|
|
* \f} |
| 58 |
|
|
* where |
| 59 |
|
|
* \li \f$\mathbf{x}_{com}\f$ is the position of the center of mass, |
| 60 |
|
|
* \li \f$\mathbf{x_L}\f$ is the position of the left joint, |
| 61 |
|
|
* \li \f$\mathbf{x_R}\f$ is the position of the right joint, |
| 62 |
|
|
* \li \f$\mathbf{x}_{ref}\f$ is the desired position of the center of mass |
| 63 |
|
|
* expressed in reference joint frame. |
| 64 |
|
|
* \li \f$ u = x_R - x_L \f$ |
| 65 |
|
|
* \li \f$ e = x_{com} - (\frac{x_L + x_R}{2})\f$ |
| 66 |
|
|
**/ |
| 67 |
|
|
class HPP_CONSTRAINTS_DLLAPI ComBetweenFeet : public DifferentiableFunction { |
| 68 |
|
|
public: |
| 69 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
| 70 |
|
|
|
| 71 |
|
|
/// Return a shared pointer to a new instance |
| 72 |
|
|
static ComBetweenFeetPtr_t create( |
| 73 |
|
|
const std::string& name, const DevicePtr_t& robot, |
| 74 |
|
|
const JointPtr_t& jointLeft, const JointPtr_t& jointRight, |
| 75 |
|
|
const vector3_t pointLeft, const vector3_t pointRight, |
| 76 |
|
|
const JointPtr_t& jointReference, const vector3_t pointRef, |
| 77 |
|
|
std::vector<bool> mask = {true, true, true, true}); |
| 78 |
|
|
|
| 79 |
|
|
/// Return a shared pointer to a new instance |
| 80 |
|
|
static ComBetweenFeetPtr_t create( |
| 81 |
|
|
const std::string& name, const DevicePtr_t& robot, |
| 82 |
|
|
const CenterOfMassComputationPtr_t& comc, const JointPtr_t& jointLeft, |
| 83 |
|
|
const JointPtr_t& jointRight, const vector3_t pointLeft, |
| 84 |
|
|
const vector3_t pointRight, const JointPtr_t& jointReference, |
| 85 |
|
|
const vector3_t pointRef, |
| 86 |
|
|
std::vector<bool> mask = {true, true, true, true}); |
| 87 |
|
|
|
| 88 |
|
✗ |
virtual ~ComBetweenFeet() {} |
| 89 |
|
|
|
| 90 |
|
|
ComBetweenFeet(const std::string& name, const DevicePtr_t& robot, |
| 91 |
|
|
const CenterOfMassComputationPtr_t& comc, |
| 92 |
|
|
const JointPtr_t& jointLeft, const JointPtr_t& jointRight, |
| 93 |
|
|
const vector3_t pointLeft, const vector3_t pointRight, |
| 94 |
|
|
const JointPtr_t& jointReference, const vector3_t pointRef, |
| 95 |
|
|
std::vector<bool> mask); |
| 96 |
|
|
|
| 97 |
|
|
protected: |
| 98 |
|
|
/// Compute value of error |
| 99 |
|
|
/// |
| 100 |
|
|
/// \param argument configuration of the robot, |
| 101 |
|
|
/// \retval result error vector |
| 102 |
|
|
virtual void impl_compute(LiegroupElementRef result, |
| 103 |
|
|
ConfigurationIn_t argument) const; |
| 104 |
|
|
|
| 105 |
|
|
virtual void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t arg) const; |
| 106 |
|
|
|
| 107 |
|
✗ |
bool isEqual(const DifferentiableFunction& other) const { |
| 108 |
|
|
const ComBetweenFeet& castother = |
| 109 |
|
✗ |
dynamic_cast<const ComBetweenFeet&>(other); |
| 110 |
|
✗ |
if (!DifferentiableFunction::isEqual(other)) return false; |
| 111 |
|
|
|
| 112 |
|
✗ |
if (robot_ != castother.robot_) return false; |
| 113 |
|
✗ |
if (com_->centerOfMassComputation() != |
| 114 |
|
✗ |
castother.com_->centerOfMassComputation()) |
| 115 |
|
✗ |
return false; |
| 116 |
|
✗ |
if (left_->joint() != castother.left_->joint()) return false; |
| 117 |
|
✗ |
if (right_->joint() != castother.right_->joint()) return false; |
| 118 |
|
✗ |
if (left_->local() != castother.left_->local()) return false; |
| 119 |
|
✗ |
if (right_->local() != castother.right_->local()) return false; |
| 120 |
|
✗ |
if (jointRef_ != castother.jointRef_) return false; |
| 121 |
|
✗ |
if (pointRef_ != castother.pointRef_) return false; |
| 122 |
|
✗ |
if (mask_ != castother.mask_) return false; |
| 123 |
|
|
|
| 124 |
|
✗ |
return true; |
| 125 |
|
|
} |
| 126 |
|
|
|
| 127 |
|
|
private: |
| 128 |
|
|
DevicePtr_t robot_; |
| 129 |
|
|
mutable Traits<PointCom>::Ptr_t com_; |
| 130 |
|
|
Traits<PointInJoint>::Ptr_t left_, right_; |
| 131 |
|
|
eigen::vector3_t pointRef_; |
| 132 |
|
|
JointPtr_t jointRef_; |
| 133 |
|
|
typedef Difference<PointCom, PointInJoint> DiffPCPiJ; |
| 134 |
|
|
typedef Difference<PointInJoint, PointInJoint> DiffPiJPiJ; |
| 135 |
|
|
typedef Sum<PointInJoint, PointInJoint> SumPiJPiJ; |
| 136 |
|
|
typedef CrossProduct<Difference<PointCom, ScalarMultiply<SumPiJPiJ> >, |
| 137 |
|
|
DiffPiJPiJ> |
| 138 |
|
|
ECrossU_t; |
| 139 |
|
|
mutable Traits<DiffPCPiJ>::Ptr_t xmxl_, xmxr_; |
| 140 |
|
|
mutable Traits<DiffPiJPiJ>::Ptr_t u_; |
| 141 |
|
|
mutable Traits<ECrossU_t>::Ptr_t ecrossu_; |
| 142 |
|
|
mutable Traits<RotationMultiply<ECrossU_t> >::Ptr_t expr_; |
| 143 |
|
|
mutable Traits<ScalarProduct<DiffPCPiJ, DiffPiJPiJ> >::Ptr_t xmxlDotu_, |
| 144 |
|
|
xmxrDotu_; |
| 145 |
|
|
std::vector<bool> mask_; |
| 146 |
|
|
mutable eigen::matrix3_t cross_; |
| 147 |
|
|
}; // class ComBetweenFeet |
| 148 |
|
|
} // namespace constraints |
| 149 |
|
|
} // namespace hpp |
| 150 |
|
|
#endif // HPP_CONSTRAINTS_COM_BETWEEN_FEET_HH |
| 151 |
|
|
|