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// Copyright (c) 2018, Joseph Mirabel |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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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_FUNCTION_DIFFERENCE_HH |
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#define HPP_CONSTRAINTS_FUNCTION_DIFFERENCE_HH |
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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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namespace function { |
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class Difference; |
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typedef shared_ptr<Difference> DifferencePtr_t; |
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/// Compute the difference between the value of the function in two points. |
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/// i.e.: \f$ f (q_0, ... , q_n) = f_{inner} (q_{left}) - f_{inner} (q_{right}) |
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/// \f$ |
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class HPP_CONSTRAINTS_LOCAL Difference |
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: public constraints::DifferentiableFunction { |
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public: |
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typedef shared_ptr<Difference> Ptr_t; |
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/// Constructor |
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/// |
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/// \param inner function f, |
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/// \param nArgs, nDers size of the input space of this function, |
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/// \param lInArgs, lInders configuration and velocity intervals defining |
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/// \f$q_{left}\f$, |
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/// \param rInArgs, rInders configuration and velocity intervals defining |
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/// \f$q_{right}\f$, |
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Difference(const DifferentiableFunctionPtr_t& inner, const size_type& nArgs, |
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const size_type& nDers, const segment_t& lInArgs, |
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const segment_t& lInDers, const segment_t& rInArgs, |
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const segment_t& rInDers); |
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protected: |
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void impl_compute(LiegroupElementRef y, vectorIn_t arg) const { |
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inner_->value(l_, arg.segment(lsa_.first, lsa_.second)); |
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inner_->value(r_, arg.segment(rsa_.first, rsa_.second)); |
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y.vector() = l_ - r_; |
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} |
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void impl_jacobian(matrixOut_t J, vectorIn_t arg) const { |
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inner_->jacobian(J.middleCols(lsd_.first, lsd_.second), |
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arg.segment(lsa_.first, lsa_.second)); |
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inner_->jacobian(J.middleCols(rsd_.first, rsd_.second), |
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arg.segment(rsa_.first, rsa_.second)); |
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J.middleCols(rsd_.first, rsd_.second) *= -1; |
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} |
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bool isEqual(const DifferentiableFunction& other) const { |
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const Difference& castother = dynamic_cast<const Difference&>(other); |
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if (!DifferentiableFunction::isEqual(other)) return false; |
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if (inner_ != castother.inner_) return false; |
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if (lsa_ != castother.lsa_) return false; |
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if (lsd_ != castother.lsd_) return false; |
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if (rsa_ != castother.rsa_) return false; |
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if (rsd_ != castother.rsd_) return false; |
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return true; |
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} |
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std::ostream& print(std::ostream& os) const; |
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DifferentiableFunctionPtr_t inner_; |
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const segment_t lsa_, lsd_; |
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const segment_t rsa_, rsd_; |
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mutable LiegroupElement l_, r_; |
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}; // class Difference |
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} // namespace function |
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} // namespace constraints |
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} // namespace hpp |
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#endif // HPP_CONSTRAINTS_FUNCTION_DIFFERENCE_HH |
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