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// |
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// Copyright (c) 2014 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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#ifndef HPP_CONSTRAINTS_RELATIVE_COM_HH |
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#define HPP_CONSTRAINTS_RELATIVE_COM_HH |
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#include <hpp/constraints/config.hh> |
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#include <hpp/constraints/differentiable-function.hh> |
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#include <hpp/constraints/fwd.hh> |
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namespace hpp { |
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namespace constraints { |
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/// \addtogroup constraints |
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/// \{ |
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/** |
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* Constraint on the relative position of the center of mass |
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* |
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* The value of the function is defined as the position of the center |
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* of mass in the reference frame of a joint. |
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* |
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* \f{eqnarray*} |
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* \mathbf{f}(\mathbf{q}) &=& R^T \left(\mathbf{x} - \mathbf{t}\right) |
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* - \mathbf{x}^{*}\\ |
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* \mathbf{\dot{f}} &=& R^T \left( |
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* J_{com} + [\mathbf{x}-\mathbf{t}]_{\times}J_{joint}^{\omega} |
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* - J_{joint}^{\mathbf{v}}\right)\mathbf{\dot{q}} |
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* \f} |
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* |
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* where |
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* \li \f$ |
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* \left(\begin{array}{cc} R & \mathbf{t} \\ 0 & 1\end{array}\right) |
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* \f$ |
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* is the position of the joint, |
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* \li \f$\mathbf{x}\f$ is the position of the center of mass, |
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* \li \f$\mathbf{x}^{*}\f$ is the desired position of the center of mass |
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* expressed in joint frame. |
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**/ |
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class HPP_CONSTRAINTS_DLLAPI RelativeCom : public DifferentiableFunction { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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/// Return a shared pointer to a new instance |
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static RelativeComPtr_t create( |
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const DevicePtr_t& robot, const JointPtr_t& joint, |
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const vector3_t reference, |
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std::vector<bool> mask = std::vector<bool>(3, true)) { |
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return create("RelativeCom", robot, joint, reference, mask); |
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} |
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static RelativeComPtr_t create( |
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const std::string& name, const DevicePtr_t& robot, |
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const JointPtr_t& joint, const vector3_t reference, |
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std::vector<bool> mask = std::vector<bool>(3, true)); |
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static RelativeComPtr_t create( |
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const DevicePtr_t& robot, const CenterOfMassComputationPtr_t& comc, |
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const JointPtr_t& joint, const vector3_t reference, |
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std::vector<bool> mask = std::vector<bool>(3, true)); |
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static RelativeComPtr_t create( |
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const std::string& name, const DevicePtr_t& robot, |
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const CenterOfMassComputationPtr_t& comc, const JointPtr_t& joint, |
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const vector3_t reference, |
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std::vector<bool> mask = std::vector<bool>(3, true)); |
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virtual ~RelativeCom() {} |
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RelativeCom(const DevicePtr_t& robot, |
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const CenterOfMassComputationPtr_t& comc, const JointPtr_t& joint, |
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const vector3_t reference, std::vector<bool> mask, |
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const std::string& name); |
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virtual std::ostream& print(std::ostream& o) const; |
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protected: |
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/// Compute value of error |
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/// |
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/// \param argument configuration of the robot, |
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/// \retval result error vector |
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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 RelativeCom& castother = dynamic_cast<const RelativeCom&>(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 (comc_ != castother.comc_) return false; |
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if (joint_ != castother.joint_) return false; |
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if (mask_ != castother.mask_) return false; |
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if (nominalCase_ != castother.nominalCase_) 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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CenterOfMassComputationPtr_t comc_; |
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JointPtr_t joint_; |
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vector3_t reference_; |
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std::vector<bool> mask_; |
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bool nominalCase_; |
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mutable ComJacobian_t jacobian_; |
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RelativeCom() {} |
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HPP_SERIALIZABLE(); |
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}; // class RelativeCom |
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/// \} |
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} // namespace constraints |
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} // namespace hpp |
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#endif // HPP_CONSTRAINTS_RELATIVE_COM_HH |
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