| Directory: | ./ |
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| File: | include/hpp/constraints/explicit/implicit-function.hh |
| Date: | 2025-05-05 12:19:30 |
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| 1 | // Copyright (c) 2015 - 2018 LAAS-CNRS | ||
| 2 | // Authors: Florent Lamiraux, Joseph Mirabel | ||
| 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 | #ifndef HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH | ||
| 30 | #define HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH | ||
| 31 | |||
| 32 | #include <hpp/constraints/differentiable-function.hh> | ||
| 33 | #include <hpp/constraints/matrix-view.hh> | ||
| 34 | |||
| 35 | namespace hpp { | ||
| 36 | namespace constraints { | ||
| 37 | namespace explicit_ { | ||
| 38 | /// Function of the form q -> g (q_out) - f (q_in) | ||
| 39 | /// | ||
| 40 | /// where | ||
| 41 | /// \li q_out is a vector composed of configuration variables of | ||
| 42 | /// q, | ||
| 43 | /// \li q_in is the vector composed of other configuration variables of | ||
| 44 | /// q, | ||
| 45 | /// \li f, g are differentiable functions with values in a Lie group. | ||
| 46 | /// | ||
| 47 | /// This class is mainly used to create hpp::constraints::Explicit | ||
| 48 | /// instances. | ||
| 49 | class ImplicitFunction : public DifferentiableFunction { | ||
| 50 | public: | ||
| 51 | typedef shared_ptr<ImplicitFunction> Ptr_t; | ||
| 52 | /// create instance and return shared pointer | ||
| 53 | /// | ||
| 54 | /// \param configSpace input space of this function - usually a robot | ||
| 55 | /// configuration space, | ||
| 56 | /// \param function function f, | ||
| 57 | /// \param inputConf set of indices defining q_in, | ||
| 58 | /// \param inputVelocity set of indices defining q_in derivative, | ||
| 59 | /// \param outputConf set of indices defining q_out | ||
| 60 | /// \param outputVelocity set of indices defining q_out derivative | ||
| 61 | /// | ||
| 62 | |||
| 63 | static Ptr_t create(const LiegroupSpacePtr_t& configSpace, | ||
| 64 | const DifferentiableFunctionPtr_t& function, | ||
| 65 | const segments_t& inputConf, const segments_t& outputConf, | ||
| 66 | const segments_t& inputVelocity, | ||
| 67 | const segments_t& outputVelocity); | ||
| 68 | |||
| 69 | /// Get function f that maps input variables to output variables | ||
| 70 | const DifferentiableFunctionPtr_t& inputToOutput() const; | ||
| 71 | |||
| 72 | protected: | ||
| 73 | /// Constructor | ||
| 74 | /// \param configSpace input space of this function - usually a robot | ||
| 75 | /// configuration space, | ||
| 76 | /// \param function function f, | ||
| 77 | /// \param inputConf set of indices defining q_in, | ||
| 78 | /// \param inputVelocity set of indices defining q_in derivative, | ||
| 79 | /// \param outputConf set of indices defining q_out | ||
| 80 | /// \param outputVelocity set of indices defining q_out derivative | ||
| 81 | ImplicitFunction(const LiegroupSpacePtr_t& configSpace, | ||
| 82 | const DifferentiableFunctionPtr_t& function, | ||
| 83 | const segments_t& inputConf, const segments_t& outputConf, | ||
| 84 | const segments_t& inputVelocity, | ||
| 85 | const segments_t& outputVelocity); | ||
| 86 | /// Compute g (q_out) - f (q_in) | ||
| 87 | void impl_compute(LiegroupElementRef result, vectorIn_t argument) const; | ||
| 88 | |||
| 89 | /// Compute Jacobian of g (q_out) - f (q_in) with respect to q. | ||
| 90 | void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const; | ||
| 91 | |||
| 92 | 22 | bool isEqual(const DifferentiableFunction& other) const { | |
| 93 | const ImplicitFunction& castother = | ||
| 94 |
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22 | dynamic_cast<const ImplicitFunction&>(other); |
| 95 |
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15 | if (!DifferentiableFunction::isEqual(other)) return false; |
| 96 | |||
| 97 |
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13 | if (robot_ != castother.robot_) return false; |
| 98 |
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13 | if (inputToOutput_ != castother.inputToOutput_) return false; |
| 99 |
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4 | if (inputConfIntervals_.rows() != castother.inputConfIntervals_.rows()) |
| 100 | ✗ | return false; | |
| 101 |
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4 | if (outputConfIntervals_.rows() != castother.outputConfIntervals_.rows()) |
| 102 | ✗ | return false; | |
| 103 |
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4 | if (inputDerivIntervals_.rows() != castother.inputDerivIntervals_.rows()) |
| 104 | ✗ | return false; | |
| 105 |
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4 | if (outputDerivIntervals_.rows() != castother.outputDerivIntervals_.rows()) |
| 106 | ✗ | return false; | |
| 107 | |||
| 108 | 4 | return true; | |
| 109 | } | ||
| 110 | |||
| 111 | /// Return pair of joints the relative pose between which | ||
| 112 | /// modifies the function value if any | ||
| 113 | /// | ||
| 114 | /// Currently checks if the implicit function specifies a joint | ||
| 115 | /// where | ||
| 116 | /// \li q_out is a vector corresponding to only 1 joint | ||
| 117 | /// \li q_in is an empty vector (since f is constant and specifies | ||
| 118 | /// the whole or part of the pose of the joint) | ||
| 119 | /// | ||
| 120 | /// \param robot the robot the constraints are applied on, | ||
| 121 | /// \return pair of pointers to the lock joint and its parent joint, | ||
| 122 | /// arranged in order of increasing joint index, or a pair of empty | ||
| 123 | /// shared pointers if the implicit function does not specify a locked | ||
| 124 | /// joint. | ||
| 125 | std::pair<JointConstPtr_t, JointConstPtr_t> dependsOnRelPoseBetween( | ||
| 126 | DeviceConstPtr_t robot) const; | ||
| 127 | |||
| 128 | private: | ||
| 129 | void computeJacobianBlocks(); | ||
| 130 | |||
| 131 | DevicePtr_t robot_; | ||
| 132 | DifferentiableFunctionPtr_t inputToOutput_; | ||
| 133 | Eigen::RowBlockIndices inputConfIntervals_; | ||
| 134 | Eigen::RowBlockIndices outputConfIntervals_; | ||
| 135 | Eigen::RowBlockIndices inputDerivIntervals_; | ||
| 136 | Eigen::RowBlockIndices outputDerivIntervals_; | ||
| 137 | std::vector<Eigen::MatrixBlocks<false, false> > outJacobian_; | ||
| 138 | std::vector<Eigen::MatrixBlocks<false, false> > inJacobian_; | ||
| 139 | mutable vector_t qIn_; | ||
| 140 | mutable LiegroupElement f_qIn_, qOut_; | ||
| 141 | mutable LiegroupElement result_; | ||
| 142 | // Jacobian of explicit function | ||
| 143 | mutable matrix_t Jf_; | ||
| 144 | |||
| 145 |
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1 | ImplicitFunction() {} |
| 146 | HPP_SERIALIZABLE(); | ||
| 147 | }; // class ImplicitFunction | ||
| 148 | |||
| 149 | } // namespace explicit_ | ||
| 150 | } // namespace constraints | ||
| 151 | } // namespace hpp | ||
| 152 | |||
| 153 | 12 | BOOST_CLASS_EXPORT_KEY(hpp::constraints::explicit_::ImplicitFunction) | |
| 154 | |||
| 155 | #endif // HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH | ||
| 156 |