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// Copyright (c) 2014, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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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_STATIC_STABILITY_HH |
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#define HPP_CONSTRAINTS_STATIC_STABILITY_HH |
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#include <hpp/constraints/config.hh> |
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#include <hpp/constraints/deprecated.hh> |
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#include <hpp/constraints/differentiable-function.hh> |
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#include <hpp/constraints/fwd.hh> |
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#include <hpp/constraints/symbolic-calculus.hh> |
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#include <vector> |
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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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class HPP_CONSTRAINTS_DLLAPI StaticStability : public DifferentiableFunction { |
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public: |
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static const value_type G; |
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static const Eigen::Matrix<value_type, 6, 1> Gravity; |
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struct Contact_t { |
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JointPtr_t joint; |
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vector3_t point; |
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vector3_t normal; |
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bool operator==(Contact_t const& other) const { |
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if (joint != other.joint) return false; |
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if (point != other.point) return false; |
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if (normal != other.normal) return false; |
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return true; |
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} |
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}; |
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typedef std::vector<Contact_t> Contacts_t; |
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/// Constructor |
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/// \param robot the robot the constraints is applied to, |
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/// \param com COM of the object in the joint frame. |
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StaticStability(const std::string& name, const DevicePtr_t& robot, |
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const Contacts_t& contacts, |
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const CenterOfMassComputationPtr_t& com); |
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static StaticStabilityPtr_t create(const std::string& name, |
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const DevicePtr_t& robot, |
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const Contacts_t& contacts, |
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const CenterOfMassComputationPtr_t& com); |
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static StaticStabilityPtr_t create(const DevicePtr_t& robot, |
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const Contacts_t& contacts, |
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const CenterOfMassComputationPtr_t& com); |
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MatrixOfExpressions<>& phi() { return phi_; } |
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protected: |
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bool isEqual(const DifferentiableFunction& other) const { |
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const StaticStability& castother = |
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dynamic_cast<const StaticStability&>(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 (contacts_ != castother.contacts_) return false; |
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if (com_ != castother.com_) return false; |
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return true; |
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} |
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private: |
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void impl_compute(LiegroupElementRef result, |
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ConfigurationIn_t argument) const; |
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void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t argument) const; |
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static void findBoundIndex(vectorIn_t u, vectorIn_t v, value_type& lambdaMin, |
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size_type* iMin, value_type& lambdaMax, |
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size_type* iMax); |
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/// Return false if uMinus.isZero(), i which case v also zero (not computed). |
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bool computeUminusAndV(vectorIn_t u, vectorOut_t uMinus, vectorOut_t v) const; |
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void computeVDot(const ConfigurationIn_t arg, vectorIn_t uMinus, vectorIn_t S, |
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matrixIn_t uDot, matrixOut_t uMinusDot, |
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matrixOut_t vDot) const; |
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void computeLambdaDot(vectorIn_t u, vectorIn_t v, const std::size_t i0, |
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matrixIn_t uDot, matrixIn_t vDot, |
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vectorOut_t lambdaDot) const; |
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DevicePtr_t robot_; |
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Contacts_t contacts_; |
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CenterOfMassComputationPtr_t com_; |
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typedef MatrixOfExpressions<eigen::vector3_t, JacobianMatrix> MoE_t; |
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mutable MoE_t phi_; |
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mutable vector_t u_, uMinus_, v_; |
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mutable matrix_t uDot_, uMinusDot_, vDot_; |
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mutable vector_t lambdaDot_; |
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}; |
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/// \} |
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} // namespace constraints |
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} // namespace hpp |
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#endif // HPP_CONSTRAINTS_STATIC_STABILITY_HH |
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