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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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// 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-points-in-bodies.hh> |
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#include <hpp/pinocchio/body.hh> |
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#include <hpp/pinocchio/collision-object.hh> |
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#include <hpp/pinocchio/device.hh> |
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#include <hpp/pinocchio/joint.hh> |
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#include <pinocchio/spatial/se3.hpp> |
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namespace hpp { |
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namespace constraints { |
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static void cross(const vector3_t& v, eigen::matrix3_t& m) { |
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m(0, 1) = -v[2]; |
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m(1, 0) = v[2]; |
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m(0, 2) = v[1]; |
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m(2, 0) = -v[1]; |
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m(1, 2) = -v[0]; |
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m(2, 1) = v[0]; |
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m(0, 0) = m(1, 1) = m(2, 2) = 0; |
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} |
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DistanceBetweenPointsInBodiesPtr_t DistanceBetweenPointsInBodies::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, const vector3_t& point1, |
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const vector3_t& point2) { |
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DistanceBetweenPointsInBodies* ptr = new DistanceBetweenPointsInBodies( |
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name, robot, joint1, joint2, point1, point2); |
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DistanceBetweenPointsInBodiesPtr_t shPtr(ptr); |
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return shPtr; |
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} |
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DistanceBetweenPointsInBodiesPtr_t DistanceBetweenPointsInBodies::create( |
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const std::string& name, const DevicePtr_t& robot, const JointPtr_t& joint1, |
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const vector3_t& point1, const vector3_t& point2) { |
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DistanceBetweenPointsInBodies* ptr = |
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new DistanceBetweenPointsInBodies(name, robot, joint1, point1, point2); |
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DistanceBetweenPointsInBodiesPtr_t shPtr(ptr); |
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return shPtr; |
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} |
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DistanceBetweenPointsInBodies::DistanceBetweenPointsInBodies( |
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const std::string& name, const DevicePtr_t& robot, const JointPtr_t& joint1, |
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const JointPtr_t& joint2, const vector3_t& point1, const vector3_t& point2) |
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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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point1_(point1), |
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point2_(point2), |
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latestResult_(outputSpace()) { |
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assert(joint1); |
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global2_ = point2; |
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} |
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DistanceBetweenPointsInBodies::DistanceBetweenPointsInBodies( |
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const std::string& name, const DevicePtr_t& robot, const JointPtr_t& joint1, |
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const vector3_t& point1, const vector3_t& point2) |
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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_(), |
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point1_(point1), |
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point2_(point2), |
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latestResult_(outputSpace()) { |
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assert(joint1); |
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global2_ = point2; |
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} |
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void DistanceBetweenPointsInBodies::impl_compute( |
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LiegroupElementRef result, 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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global1_ = joint1_->currentTransformation().act(point1_); |
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if (joint2_) { |
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global2_ = joint2_->currentTransformation().act(point2_); |
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result.vector()[0] = (global2_ - global1_).norm(); |
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} else { |
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result.vector()[0] = (global1_).norm(); |
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} |
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latestArgument_ = argument; |
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latestResult_ = result; |
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} |
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void DistanceBetweenPointsInBodies::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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// P1 - P2 |
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vector3_t P1_minus_P2(global1_ - global2_); |
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// P1 - t1 |
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vector3_t P1_minus_t1(global1_ - M1.translation()); |
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// FIXME Remove me |
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eigen::matrix3_t P1_minus_t1_cross; |
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cross(P1_minus_t1, P1_minus_t1_cross); |
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assert(R1.colwise().cross(P1_minus_t1).isApprox(-P1_minus_t1_cross * R1)); |
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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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matrix_t tmp1(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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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(global2_ - 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 = (tmp1 - tmp2) / dist.vector()[0]; |
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} else { |
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jacobian = tmp1 / 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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