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// |
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// Copyright (c) 2015 CNRS |
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// Authors: Joseph Mirabel |
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// |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH |
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#define HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH |
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#include <Eigen/Core> |
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#include <hpp/constraints/config.hh> |
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#include <hpp/constraints/differentiable-function.hh> |
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#include <hpp/constraints/fwd.hh> |
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namespace hpp { |
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namespace constraints { |
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/// Square distance between input configuration and reference configuration |
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class HPP_CONSTRAINTS_DLLAPI ConfigurationConstraint |
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: public DifferentiableFunction { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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/// Return a shared pointer to a new instance |
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static ConfigurationConstraintPtr_t create( |
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const std::string& name, const DevicePtr_t& robot, ConfigurationIn_t goal, |
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std::vector<bool> mask = std::vector<bool>(0)); |
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/// Return a shared pointer to a new instance |
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/// \param weights vector of size robot->numberDof() |
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static ConfigurationConstraintPtr_t create(const std::string& name, |
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const DevicePtr_t& robot, |
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ConfigurationIn_t goal, |
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const vector_t& weights); |
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virtual ~ConfigurationConstraint() {} |
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/// \param weights vector of size robot->numberDof() |
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ConfigurationConstraint(const std::string& name, const DevicePtr_t& robot, |
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ConfigurationIn_t goal, const vector_t& weights); |
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const vector_t& weights() const { return weights_; } |
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void weights(const vector_t& ws); |
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const LiegroupElement& goal() const { return goal_; } |
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protected: |
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/// Compute value of error |
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/// |
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/// \param argument configuration of the robot, |
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/// \retval result error vector |
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virtual void impl_compute(LiegroupElementRef result, |
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ConfigurationIn_t argument) const; |
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virtual void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t arg) const; |
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std::ostream& print(std::ostream& o) const; |
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bool isEqual(const DifferentiableFunction& other) const { |
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const ConfigurationConstraint& castother = |
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dynamic_cast<const ConfigurationConstraint&>(other); |
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if (!DifferentiableFunction::isEqual(other)) return false; |
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if (robot_ != castother.robot_) return false; |
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if (goal_.vector() != castother.goal_.vector()) return false; |
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if (weights_ != castother.weights_) return false; |
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return true; |
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} |
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private: |
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typedef Eigen::Array<bool, Eigen::Dynamic, 1> EigenBoolVector_t; |
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DevicePtr_t robot_; |
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LiegroupElement goal_; |
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vector_t weights_; |
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}; // class ConfigurationConstraint |
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} // namespace constraints |
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} // namespace hpp |
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#endif // HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH |
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