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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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#ifndef HPP_CONSTRAINTS_DISTANCE_BETWEEN_POINTS_IN_BODIES_HH |
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#define HPP_CONSTRAINTS_DISTANCE_BETWEEN_POINTS_IN_BODIES_HH |
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#include <hpp/constraints/differentiable-function.hh> |
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#include <hpp/pinocchio/liegroup-element.hh> |
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namespace hpp { |
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namespace constraints { |
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/// Distance between two sets of objects |
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/// |
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/// This function maps to a configuration of a robot, the distance |
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/// \li either between two points in two joints |
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/// \li or between a point in a joint and a point in the environment |
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/// |
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/// The type of distance above is determined by the method "create" called. |
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class HPP_CONSTRAINTS_DLLAPI DistanceBetweenPointsInBodies |
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: public DifferentiableFunction { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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/// Create instance and return shared pointer |
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/// |
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/// \param name name of the constraint, |
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/// \param robot robot that own the bodies, |
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/// \param joint1 joint that holds the first point, |
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/// \param joint2 joint that holds the second point, |
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/// \param point1 point in frame of joint 1, |
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/// \param point2 point in frame of joint 2. |
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static DistanceBetweenPointsInBodiesPtr_t create(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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const vector3_t& point1, |
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const vector3_t& point2); |
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/// Create instance and return shared pointer |
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/// |
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/// \param name name of the constraint, |
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/// \param robot robot that own the bodies, |
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/// \param joint1 joint that holds the first point, |
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/// \param point1 point in frame of joint 1, |
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/// \param point2 point in frame of joint 2. |
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static DistanceBetweenPointsInBodiesPtr_t create(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 vector3_t& point1, |
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const vector3_t& point2); |
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virtual ~DistanceBetweenPointsInBodies() {} |
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protected: |
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/// Protected constructor |
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/// |
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/// \param name name of the constraint, |
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/// \param robot robot that own the bodies, |
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/// \param joint1 joint that holds the first body, |
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/// \param joint2 joint that holds the second body. |
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DistanceBetweenPointsInBodies(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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const vector3_t& point1, |
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const vector3_t& point2); |
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/// Protected constructor |
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/// |
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/// \param name name of the constraint, |
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/// \param robot robot that own the bodies, |
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/// \param joint1 joint that holds the first body, |
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DistanceBetweenPointsInBodies(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 vector3_t& point1, |
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const vector3_t& point2); |
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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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bool isEqual(const DifferentiableFunction& other) const { |
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const DistanceBetweenPointsInBodies& castother = |
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dynamic_cast<const DistanceBetweenPointsInBodies&>(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 (joint1_ != castother.joint1_) return false; |
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if (joint2_ != castother.joint2_) return false; |
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if (point1_ != castother.point1_) return false; |
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if (point2_ != castother.point2_) return false; |
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return true; |
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} |
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private: |
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DevicePtr_t robot_; |
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JointPtr_t joint1_; |
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JointPtr_t joint2_; |
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vector3_t point1_; |
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vector3_t point2_; |
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mutable vector3_t global1_; |
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mutable vector3_t global2_; |
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mutable Configuration_t latestArgument_; |
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mutable LiegroupElement latestResult_; |
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}; // class DistanceBetweenPointsInBodies |
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} // namespace constraints |
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} // namespace hpp |
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#endif // HPP_CONSTRAINTS_DISTANCE_BETWEEN_POINTS_IN_BODIES_HH |
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