GCC Code Coverage Report

Directory: ./
File: src/generic-transformation.cc
Date: 2025-05-05 12:19:30
Exec Total Coverage
Lines: 144 150 96.0%
Branches: 140 277 50.5%
Line Branch Exec Source
1 // Copyright (c) 2016, Joseph Mirabel
2 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3 //
4
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are
7 // met:
8 //
9 // 1. Redistributions of source code must retain the above copyright
10 // notice, this list of conditions and the following disclaimer.
11 //
12 // 2. Redistributions in binary form must reproduce the above copyright
13 // notice, this list of conditions and the following disclaimer in the
14 // documentation and/or other materials provided with the distribution.
15 //
16 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24 // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27 // DAMAGE.
28
29 #include <boost/serialization/vector.hpp>
30 #include <hpp/constraints/generic-transformation.hh>
31 #include <hpp/constraints/macros.hh>
32 #include <hpp/pinocchio/configuration.hh>
33 #include <hpp/pinocchio/device.hh>
34 #include <hpp/pinocchio/serialization.hh>
35 #include <hpp/util/indent.hh>
36 #include <hpp/util/serialization.hh>
37 #include <pinocchio/serialization/se3.hpp>
38
39 #include "generic-transformation/helper.hh"
40 #include "serialization.hh"
41
42 namespace hpp {
43 namespace constraints {
44 template <bool pos, bool ori, bool ose3>
45 188 LiegroupSpacePtr_t liegroupSpace(const std::vector<bool>& mask) {
46
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 308 if (!ose3) return LiegroupSpace::Rn(size(mask));
47 assert(ori);
48
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 34 assert(mask[(pos ? 3 : 0) + 0] && mask[(pos ? 3 : 0) + 1] &&
49 mask[(pos ? 3 : 0) + 2] &&
50 "Full orientation is necessary to output R3xSO3 / SO3 error");
51
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 34 const size_type nTranslation = size(mask) - 3;
52
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 34 LiegroupSpacePtr_t SO3 = LiegroupSpace::SO3();
53
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 34 switch (nTranslation) {
54 6 case 0:
55 6 return SO3;
56 ✗ case 1:
57 ✗ return LiegroupSpace::R1() * SO3;
58 ✗ case 2:
59 ✗ return LiegroupSpace::R2() * SO3;
60 28 case 3:
61
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 28 return LiegroupSpace::R3xSO3();
62 ✗ default:
63 ✗ throw std::logic_error("This should not happen. Invalid mask.");
64 }
65 }
66
67 template <bool pos, bool ori, bool ose3>
68 188 inline Eigen::RowBlockIndices indices(const std::vector<bool>& mask) {
69
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 188 ArrayXb _mask(mask.size() + (ose3 ? 1 : 0));
70
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 986 for (std::size_t i = 0; i < mask.size(); ++i) _mask[i] = mask[i];
71 if (ose3) {
72 assert(ori);
73
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 34 assert(mask[(pos ? 3 : 0) + 0] && mask[(pos ? 3 : 0) + 1] &&
74 mask[(pos ? 3 : 0) + 2] &&
75 "Full orientation is necessary to output R3xSO3 / SO3 error");
76
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 34 _mask[_mask.size() - 1] = true;
77 }
78 return Eigen::RowBlockIndices(
79
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 376 Eigen::BlockIndex::fromLogicalExpression(_mask));
80 188 }
81
82 56 void GenericTransformationModel<true>::setJoint1(const JointConstPtr_t& j) {
83
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 56 if (j && j->index() > 0)
84 52 joint1 = j;
85 else
86 4 joint1.reset();
87
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 56 assert(!joint1 || joint1->index());
88 56 }
89
90 template <int _Options>
91 56 std::ostream& GenericTransformation<_Options>::print(std::ostream& os) const {
92 os << (IsRelative ? "Relative" : "")
93 << (ComputePosition ? (ComputeOrientation ? "Transformation" : "Position")
94 : "Orientation")
95 56 << ": " << name() << ", active dof: "
96
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 56 << pretty_print(BlockIndex::fromLogicalExpression(activeParameters_))
97
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 56 << incindent << iendl
98
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 112 << "Joint1: " << ((IsRelative && joint1()) ? joint1()->name() : "World")
99
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 56 << iendl << "Frame in joint 1" << incindent << iendl;
100 56 pinocchio::display(os, frame1InJoint1())
101 56 << decindent << iendl
102
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 112 << "Joint2: " << (joint2() ? joint2()->name() : "World") << iendl
103
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 56 << "Frame in joint 2" << incindent << iendl;
104 56 pinocchio::display(os, frame2InJoint2()) << decindent << iendl << "mask: ";
105
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 272 for (size_type i = 0; i < DerSize; ++i) os << mask_[i] << ", ";
106 56 return os << decindent;
107 }
108
109 template <int _Options>
110 typename GenericTransformation<_Options>::Ptr_t
111 58 GenericTransformation<_Options>::create(const std::string& name,
112 const DevicePtr_t& robot,
113 const JointConstPtr_t& joint2,
114 const Transform3s& reference,
115 std::vector<bool> mask) {
116 116 GenericTransformation<_Options>* ptr =
117
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 58 new GenericTransformation<_Options>(name, robot, mask);
118
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 58 ptr->joint1(JointConstPtr_t());
119 58 ptr->joint2(joint2);
120 58 ptr->reference(reference);
121 58 Ptr_t shPtr(ptr);
122
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 58 ptr->init(shPtr);
123 58 return shPtr;
124 }
125
126 template <int _Options>
127 typename GenericTransformation<_Options>::Ptr_t
128 18 GenericTransformation<_Options>::create(
129 const std::string& name, const DevicePtr_t& robot,
130 /* World frame */ const JointConstPtr_t& joint2,
131 const Transform3s& frame2, const Transform3s& frame1,
132 std::vector<bool> mask) {
133 36 GenericTransformation<_Options>* ptr =
134
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 18 new GenericTransformation<_Options>(name, robot, mask);
135
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 18 ptr->joint1(JointConstPtr_t());
136 18 ptr->joint2(joint2);
137 18 ptr->frame1InJoint1(frame1);
138 18 ptr->frame2InJoint2(frame2);
139 18 Ptr_t shPtr(ptr);
140 18 return shPtr;
141 }
142
143 template <int _Options>
144 typename GenericTransformation<_Options>::Ptr_t
145 26 GenericTransformation<_Options>::create(const std::string& name,
146 const DevicePtr_t& robot,
147 const JointConstPtr_t& joint1,
148 const JointConstPtr_t& joint2,
149 const Transform3s& reference,
150 std::vector<bool> mask) {
151 52 GenericTransformation<_Options>* ptr =
152
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 26 new GenericTransformation<_Options>(name, robot, mask);
153 26 ptr->joint1(joint1);
154 26 ptr->joint2(joint2);
155 26 ptr->reference(reference);
156 26 Ptr_t shPtr(ptr);
157
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 26 ptr->init(shPtr);
158 26 return shPtr;
159 }
160
161 template <int _Options>
162 typename GenericTransformation<_Options>::Ptr_t
163 86 GenericTransformation<_Options>::create(const std::string& name,
164 const DevicePtr_t& robot,
165 const JointConstPtr_t& joint1,
166 const JointConstPtr_t& joint2,
167 const Transform3s& frame1,
168 const Transform3s& frame2,
169 std::vector<bool> mask) {
170 172 GenericTransformation<_Options>* ptr =
171
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 86 new GenericTransformation<_Options>(name, robot, mask);
172 86 ptr->joint1(joint1);
173 86 ptr->joint2(joint2);
174 86 ptr->frame1InJoint1(frame1);
175 86 ptr->frame2InJoint2(frame2);
176 86 Ptr_t shPtr(ptr);
177 86 return shPtr;
178 }
179
180 template <int _Options>
181 188 GenericTransformation<_Options>::GenericTransformation(const std::string& name,
182 const DevicePtr_t& robot,
183 std::vector<bool> mask)
184 : DifferentiableFunction(
185 robot->configSize(), robot->numberDof(),
186 liegroupSpace<(bool)ComputePosition, (bool)ComputeOrientation,
187 (bool)OutputR3xSO3>(mask),
188 name),
189 188 robot_(robot),
190
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 188 m_(robot->numberDof() - robot->extraConfigSpace().dimension()),
191
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 188 Vindices_(indices<(bool)ComputePosition, (bool)ComputeOrientation,
192 (bool)OutputR3xSO3>(mask)),
193
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 376 mask_(mask) {
194
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 188 assert(mask.size() == DerSize);
195 188 std::size_t iOri = 0;
196 188 m_.rowOri = 0;
197 if (ComputePosition) {
198
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 480 for (size_type i = 0; i < 3; ++i)
199
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 360 if (mask_[i]) m_.rowOri++;
200 120 m_.fullPos = (m_.rowOri == 3);
201 120 iOri = 3;
202 } else
203 68 m_.fullPos = false;
204 if (ComputeOrientation)
205
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 146 m_.fullOri = mask_[iOri + 0] && mask_[iOri + 1] && mask_[iOri + 2];
206 else
207 42 m_.fullOri = false;
208 188 }
209
210 template <int _Options>
211 460 inline void GenericTransformation<_Options>::computeActiveParams() {
212
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 460 activeParameters_.setConstant(false);
213
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 460 activeDerivativeParameters_.setConstant(false);
214
215
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 460 setActiveParameters(robot_, joint1(), joint2(), activeParameters_,
216 460 activeDerivativeParameters_);
217 460 }
218
219 template <int _Options>
220 49370 void GenericTransformation<_Options>::impl_compute(
221 LiegroupElementRef result, ConfigurationIn_t argument) const {
222 GTDataV<IsRelative, (bool)ComputePosition, (bool)ComputeOrientation,
223 (bool)OutputR3xSO3>
224
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 49370 data(m_, robot_);
225
226
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 49414 data.device.currentConfiguration(argument);
227
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 49416 data.device.computeForwardKinematics(pinocchio::JOINT_POSITION);
228 compute<IsRelative, (bool)ComputePosition, (bool)ComputeOrientation,
229
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 49414 (bool)OutputR3xSO3>::error(data);
230
231
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 49410 result.vector() = Vindices_.rview(data.value);
232
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 49408 assert(hpp::pinocchio::checkNormalized(result));
233 49406 }
234
235 template <int _Options>
236 7172 void GenericTransformation<_Options>::impl_jacobian(
237 matrixOut_t jacobian, ConfigurationIn_t arg) const {
238 // TODO there is still a little bit a memory which is dynamically
239 // allocated in GTDataJ. At the moment, this allocation is necessary to
240 // support multithreadind. To avoid it, DeviceData should provide some
241 // a temporary buffer to pass to an Eigen::Map
242 {
243 GTDataJ<IsRelative, (bool)ComputePosition, (bool)ComputeOrientation,
244 (bool)OutputR3xSO3>
245
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 7172 data(m_, robot_);
246
247
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 7170 data.device.currentConfiguration(arg);
248
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 7170 data.device.computeForwardKinematics(pinocchio::JOINT_POSITION |
249 pinocchio::JACOBIAN);
250 compute<IsRelative, (bool)ComputePosition, (bool)ComputeOrientation,
251
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 7172 (bool)OutputR3xSO3>::error(data);
252 compute<IsRelative, (bool)ComputePosition, (bool)ComputeOrientation,
253
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 7170 (bool)OutputR3xSO3>::jacobian(data, jacobian, mask_);
254 7162 }
255
256 #ifdef CHECK_JACOBIANS
257 const value_type eps = std::sqrt(Eigen::NumTraits<value_type>::epsilon());
258 matrix_t Jfd(outputDerivativeSize(), inputDerivativeSize());
259 Jfd.setZero();
260 finiteDifferenceCentral(Jfd, arg, robot_, eps);
261 size_type row, col;
262 value_type maxError = (jacobian - Jfd).cwiseAbs().maxCoeff(&row, &col);
263 if (maxError > std::sqrt(eps)) {
264 hppDout(
265 error, "Jacobian of "
266 << name()
267 << " does not match central finite difference. "
268 "DOF "
269 << col << " at row " << row << ": " << maxError << " > "
270 << /* HESSIAN_MAXIMUM_COEF << " * " << */ std::sqrt(eps));
271 hppDnum(error, "Jacobian is" << iendl << jacobian << iendl
272 << "Finite diff is" << iendl << Jfd << iendl
273 << "Difference is" << iendl
274 << (jacobian - Jfd));
275 }
276 #endif
277 7172 }
278
279 template <int _Options>
280 template <class Archive>
281 44 void GenericTransformation<_Options>::serialize(Archive& ar,
282 const unsigned int version) {
283 (void)version;
284
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 44 ar& boost::serialization::make_nvp(
285 44 "base", boost::serialization::base_object<DifferentiableFunction>(*this));
286
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 44 ar& BOOST_SERIALIZATION_NVP(robot_);
287
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 44 ar& BOOST_SERIALIZATION_NVP(m_);
288
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 44 ar& boost::serialization::make_nvp("mask_",
289 44 const_cast<std::vector<bool>&>(mask_));
290
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 44 ar& BOOST_SERIALIZATION_NVP(self_);
291 }
292
293 /// Force instanciation of relevant classes
294 template class GenericTransformation<PositionBit | OrientationBit>;
295 template class GenericTransformation<PositionBit>;
296 template class GenericTransformation<OrientationBit>;
297 template class GenericTransformation<RelativeBit | PositionBit |
298 OrientationBit>;
299 template class GenericTransformation<RelativeBit | PositionBit>;
300 template class GenericTransformation<RelativeBit | OrientationBit>;
301
302 template class GenericTransformation<OutputR3xSO3Bit | PositionBit |
303 OrientationBit>;
304 // template class GenericTransformation< OutputR3xSO3Bit | PositionBit >;
305 template class GenericTransformation<OutputR3xSO3Bit | OrientationBit>;
306 template class GenericTransformation<OutputR3xSO3Bit | RelativeBit |
307 PositionBit | OrientationBit>;
308 // template class GenericTransformation< OutputR3xSO3Bit | RelativeBit |
309 // PositionBit >;
310 template class GenericTransformation<OutputR3xSO3Bit | RelativeBit |
311 OrientationBit>;
312
313 HPP_SERIALIZATION_IMPLEMENT(hpp::constraints::Position);
314 HPP_SERIALIZATION_IMPLEMENT(hpp::constraints::Orientation);
315 HPP_SERIALIZATION_IMPLEMENT(hpp::constraints::Transformation);
316 HPP_SERIALIZATION_IMPLEMENT(hpp::constraints::RelativePosition);
317 HPP_SERIALIZATION_IMPLEMENT(hpp::constraints::RelativeOrientation);
318 HPP_SERIALIZATION_IMPLEMENT(hpp::constraints::RelativeTransformation);
319 HPP_SERIALIZATION_IMPLEMENT(hpp::constraints::TransformationR3xSO3);
320 HPP_SERIALIZATION_IMPLEMENT(hpp::constraints::RelativeTransformationR3xSO3);
321 HPP_SERIALIZATION_IMPLEMENT(hpp::constraints::OrientationSO3);
322 HPP_SERIALIZATION_IMPLEMENT(hpp::constraints::RelativeOrientationSO3);
323 } // namespace constraints
324 } // namespace hpp
325
326 namespace boost {
327 namespace serialization {
328 using hpp::constraints::GenericTransformationModel;
329
330 #define _make_nvp(attr) make_nvp(#attr, m.attr)
331 template <class Archive>
332 44 inline void serialize(Archive& ar, GenericTransformationModel<false>& m,
333 const unsigned int version) {
334 (void)version;
335 44 hpp::constraints::internal::serialize_joint(ar, "joint2", m.joint2);
336
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 44 ar& _make_nvp(R1isID);
337
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 44 ar& _make_nvp(R2isID);
338
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 44 ar& _make_nvp(t1isZero);
339
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 44 ar& _make_nvp(t2isZero);
340
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 44 ar& _make_nvp(F1inJ1);
341
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 44 ar& _make_nvp(F2inJ2);
342
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 44 ar& _make_nvp(fullPos);
343
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 44 ar& _make_nvp(fullOri);
344
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 44 ar& _make_nvp(rowOri);
345
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 44 ar& make_nvp("cols", const_cast<hpp::constraints::size_type&>(m.cols));
346 }
347
348 template <class Archive>
349 24 inline void serialize(Archive& ar, GenericTransformationModel<true>& m,
350 const unsigned int version) {
351 (void)version;
352
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 24 ar& make_nvp(
353 "base",
354 24 boost::serialization::base_object<GenericTransformationModel<false> >(m));
355 24 hpp::constraints::internal::serialize_joint(ar, "joint1", m.joint1);
356 }
357 } // namespace serialization
358 } // namespace boost
359
360 12 BOOST_CLASS_EXPORT(hpp::constraints::Position)
361 12 BOOST_CLASS_EXPORT(hpp::constraints::Orientation)
362 12 BOOST_CLASS_EXPORT(hpp::constraints::Transformation)
363 12 BOOST_CLASS_EXPORT(hpp::constraints::RelativePosition)
364 12 BOOST_CLASS_EXPORT(hpp::constraints::RelativeOrientation)
365 12 BOOST_CLASS_EXPORT(hpp::constraints::RelativeTransformation)
366 12 BOOST_CLASS_EXPORT(hpp::constraints::TransformationR3xSO3)
367 12 BOOST_CLASS_EXPORT(hpp::constraints::RelativeTransformationR3xSO3)
368 12 BOOST_CLASS_EXPORT(hpp::constraints::OrientationSO3)
369 12 BOOST_CLASS_EXPORT(hpp::constraints::RelativeOrientationSO3)
370