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// |
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// Copyright (c) 2015 CNRS |
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// Authors: Florent Lamiraux |
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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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#include <hpp/constraints/distance-between-bodies.hh> |
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#include <hpp/pinocchio/body.hh> |
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#include <hpp/pinocchio/device.hh> |
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#include <hpp/pinocchio/joint-collection.hh> |
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#include <hpp/pinocchio/joint.hh> |
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#include <pinocchio/algorithm/geometry.hpp> |
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namespace hpp { |
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namespace constraints { |
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typedef std::vector<CollisionObjectPtr_t> CollisionObjects_t; |
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void initGeomData(const pinocchio::GeomModel& model, pinocchio::GeomData& data, |
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const pinocchio::BodyPtr_t& body, |
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const CollisionObjects_t& objects) { |
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// Deactivate all collision pairs. |
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for (std::size_t i = 0; i < model.collisionPairs.size(); ++i) |
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data.deactivateCollisionPair(i); |
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// Activate only the relevant ones. |
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for (size_type i = 0; i < body->nbInnerObjects(); ++i) { |
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CollisionObjectConstPtr_t obj1(body->innerObjectAt(i)); |
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for (std::size_t j = 0; j < objects.size(); ++j) { |
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CollisionObjectConstPtr_t obj2(objects[j]); |
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std::size_t idx = model.findCollisionPair(::pinocchio::CollisionPair( |
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obj1->indexInModel(), obj2->indexInModel())); |
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if (idx < model.collisionPairs.size()) |
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data.activateCollisionPair(idx); |
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else |
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throw std::invalid_argument("Collision pair not found"); |
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} |
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} |
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} |
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DistanceBetweenBodiesPtr_t DistanceBetweenBodies::create( |
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const std::string& name, const DevicePtr_t& robot, const JointPtr_t& joint1, |
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const JointPtr_t& joint2) { |
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DistanceBetweenBodies* ptr = |
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new DistanceBetweenBodies(name, robot, joint1, joint2); |
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DistanceBetweenBodiesPtr_t shPtr(ptr); |
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return shPtr; |
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} |
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DistanceBetweenBodiesPtr_t DistanceBetweenBodies::create( |
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const std::string& name, const DevicePtr_t& robot, const JointPtr_t& joint, |
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const CollisionObjects_t& objects) { |
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DistanceBetweenBodies* ptr = |
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new DistanceBetweenBodies(name, robot, joint, objects); |
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DistanceBetweenBodiesPtr_t shPtr(ptr); |
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return shPtr; |
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} |
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DistanceBetweenBodies::DistanceBetweenBodies(const std::string& name, |
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const DevicePtr_t& robot, |
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const JointPtr_t& joint1, |
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const JointPtr_t& joint2) |
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: DifferentiableFunction(robot->configSize(), robot->numberDof(), |
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LiegroupSpace::R1(), name), |
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robot_(robot), |
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joint1_(joint1), |
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joint2_(joint2), |
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data_(robot->geomModel()), |
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latestResult_(outputSpace()) { |
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pinocchio::BodyPtr_t body2(joint2_->linkedBody()); |
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CollisionObjects_t objects2(body2->nbInnerObjects()); |
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for (std::size_t j = 0; j < objects2.size(); ++j) |
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objects2[j] = body2->innerObjectAt(j); |
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initGeomData(robot_->geomModel(), data_, joint1_->linkedBody(), objects2); |
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} |
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DistanceBetweenBodies::DistanceBetweenBodies(const std::string& name, |
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const DevicePtr_t& robot, |
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const JointPtr_t& joint, |
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const CollisionObjects_t& objects) |
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: DifferentiableFunction(robot->configSize(), robot->numberDof(), |
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LiegroupSpace::R1(), name), |
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robot_(robot), |
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joint1_(joint), |
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joint2_(), |
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data_(robot->geomModel()), |
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latestResult_(outputSpace()) { |
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initGeomData(robot_->geomModel(), data_, joint1_->linkedBody(), objects); |
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} |
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void DistanceBetweenBodies::impl_compute(LiegroupElementRef result, |
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ConfigurationIn_t argument) const { |
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if ((argument.rows() == latestArgument_.rows()) && |
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(argument == latestArgument_)) { |
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result = latestResult_; |
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return; |
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} |
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robot_->currentConfiguration(argument); |
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robot_->computeForwardKinematics(pinocchio::JOINT_POSITION | |
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pinocchio::JACOBIAN); |
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::pinocchio::updateGeometryPlacements(robot_->model(), robot_->data(), |
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robot_->geomModel(), data_); |
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minIndex_ = ::pinocchio::computeDistances(robot_->geomModel(), data_); |
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result.vector()[0] = data_.distanceResults[minIndex_].min_distance; |
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latestArgument_ = argument; |
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latestResult_ = result; |
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} |
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void DistanceBetweenBodies::impl_jacobian(matrixOut_t jacobian, |
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ConfigurationIn_t arg) const { |
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LiegroupElement dist(outputSpace()); |
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impl_compute(dist, arg); |
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const JointJacobian_t& J1(joint1_->jacobian()); |
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const Transform3s& M1(joint1_->currentTransformation()); |
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const matrix3_t& R1(M1.rotation()); |
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vector3_t point1(data_.distanceResults[minIndex_].nearest_points[0]); |
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vector3_t point2(data_.distanceResults[minIndex_].nearest_points[1]); |
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// P1 - P2 |
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vector3_t P1_minus_P2(point1 - point2); |
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// P1 - t1 |
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vector3_t P1_minus_t1(point1 - M1.translation()); |
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// T ( ) |
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// (P1-P2) ( J - [P1 - t1] J ) |
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// ( 1 [0:3] x 1 [3:6] ) |
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jacobian = (P1_minus_P2.transpose() * R1 * J1.topRows<3>() + |
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P1_minus_P2.transpose() * R1.colwise().cross(P1_minus_t1) * |
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J1.bottomRows<3>()) / |
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dist.vector()[0]; |
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if (joint2_) { |
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const JointJacobian_t& J2(joint2_->jacobian()); |
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const Transform3s& M2(joint2_->currentTransformation()); |
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const matrix3_t& R2(M2.rotation()); |
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// P2 - t2 |
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vector3_t P2_minus_t2(point2 - M2.translation()); |
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// T ( ) |
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// (P1-P2) ( J - [P1 - t1] J ) |
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// ( 2 [0:3] x 2 [3:6] ) |
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matrix_t tmp2(P1_minus_P2.transpose() * R2 * J2.topRows<3>() + |
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P1_minus_P2.transpose() * R2.colwise().cross(P2_minus_t2) * |
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J2.bottomRows<3>()); |
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jacobian.noalias() -= tmp2 / dist.vector()[0]; |
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} |
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} |
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} // namespace constraints |
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} // namespace hpp |
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