| Directory: | ./ |
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| File: | src/path/hermite.cc |
| Date: | 2024-08-10 11:29:48 |
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| Lines: | 49 | 57 | 86.0% |
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| 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 <hpp/core/config-projector.hh> | ||
| 30 | #include <hpp/core/path/hermite.hh> | ||
| 31 | #include <hpp/core/projection-error.hh> | ||
| 32 | #include <hpp/pinocchio/configuration.hh> | ||
| 33 | #include <hpp/pinocchio/device.hh> | ||
| 34 | #include <hpp/pinocchio/liegroup.hh> | ||
| 35 | #include <hpp/util/debug.hh> | ||
| 36 | |||
| 37 | namespace hpp { | ||
| 38 | namespace core { | ||
| 39 | namespace path { | ||
| 40 | 1852569 | Hermite::Hermite(const DevicePtr_t& device, ConfigurationIn_t init, | |
| 41 | 1852569 | ConfigurationIn_t end, ConstraintSetPtr_t constraints) | |
| 42 | ✗ | : parent_t(device, interval_t(0, 1), constraints), | |
| 43 |
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1852569 | init_(init), |
| 44 |
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1852569 | end_(end), |
| 45 |
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3705138 | hermiteLength_(-1) { |
| 46 |
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1852569 | assert(init.size() == robot_->configSize()); |
| 47 |
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1852569 | assert(device); |
| 48 | |||
| 49 |
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1852569 | base(init); |
| 50 |
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1852569 | parameters_.row(0).setZero(); |
| 51 |
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1852569 | pinocchio::difference<hpp::pinocchio::RnxSOnLieGroupMap>(robot_, end, init, |
| 52 |
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1852569 | parameters_.row(3)); |
| 53 | |||
| 54 |
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1852569 | projectVelocities(init, end); |
| 55 | 1852569 | } | |
| 56 | |||
| 57 | 1852592 | Hermite::Hermite(const Hermite& path) | |
| 58 |
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1852592 | : parent_t(path), init_(path.init_), end_(path.end_), hermiteLength_(-1) {} |
| 59 | |||
| 60 | ✗ | Hermite::Hermite(const Hermite& path, const ConstraintSetPtr_t& constraints) | |
| 61 | : parent_t(path, constraints), | ||
| 62 | ✗ | init_(path.init_), | |
| 63 | ✗ | end_(path.end_), | |
| 64 | ✗ | hermiteLength_(-1) { | |
| 65 | ✗ | projectVelocities(init_, end_); | |
| 66 | } | ||
| 67 | |||
| 68 | 3705161 | void Hermite::init(HermitePtr_t self) { | |
| 69 |
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3705161 | parent_t::init(self); |
| 70 | 3705161 | weak_ = self; | |
| 71 | 3705161 | checkPath(); | |
| 72 | 3705161 | } | |
| 73 | |||
| 74 | // void Hermite::computeVelocities (ConfigurationIn_t qi, ConfigurationIn_t qe) | ||
| 75 | 1852569 | void Hermite::projectVelocities(ConfigurationIn_t qi, ConfigurationIn_t qe) { | |
| 76 | // vector_t v_i2e (outputDerivativeSize()); | ||
| 77 | // pinocchio::difference<hpp::pinocchio::LieGroupTpl> (robot_, qe, qi, v_i2e); | ||
| 78 |
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1852569 | if (constraints() && constraints()->configProjector()) { |
| 79 |
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1852568 | ConfigProjectorPtr_t proj = constraints()->configProjector(); |
| 80 |
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1852568 | vector_t v(outputDerivativeSize()); |
| 81 | // Compute v0 | ||
| 82 | // proj->projectVectorOnKernel (qi, v_i2e, v); | ||
| 83 |
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1852568 | proj->projectVectorOnKernel(qi, parameters_.row(3), v); |
| 84 |
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1852568 | v0(v); |
| 85 | // Compute v1 | ||
| 86 |
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1852568 | proj->projectVectorOnKernel(qe, parameters_.row(3), v); |
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1852568 | v1(v); |
| 88 | 1852568 | } else { | |
| 89 |
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1 | v0(parameters_.row(3)); |
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1 | v1(parameters_.row(3)); |
| 91 | } | ||
| 92 |
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1852569 | assert(!parameters_.hasNaN()); |
| 93 | 1852569 | } | |
| 94 | |||
| 95 | 3705168 | void Hermite::computeHermiteLength() { | |
| 96 |
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3705168 | hermiteLength_ = (parameters_.bottomRows<3>() - parameters_.topRows<3>()) |
| 97 |
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3705168 | .rowwise() |
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3705168 | .norm() |
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3705168 | .sum(); |
| 100 | 3705168 | } | |
| 101 | |||
| 102 | 926268 | vector_t Hermite::velocity(const value_type& param) const { | |
| 103 |
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926268 | vector_t v(outputDerivativeSize()); |
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926268 | derivative(v, param, 1); |
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926268 | if (constraints() && constraints()->configProjector()) { |
| 106 |
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926268 | ConfigProjectorPtr_t proj = constraints()->configProjector(); |
| 107 |
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926268 | Configuration_t q(outputSize()); |
| 108 |
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926268 | if (!eval(q, param)) |
| 109 | ✗ | throw projection_error("Configuration does not satisfy the constraints"); | |
| 110 |
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926268 | proj->projectVectorOnKernel(q, v, v); |
| 111 | 926268 | } | |
| 112 | 926268 | return v; | |
| 113 | } | ||
| 114 | |||
| 115 | ✗ | DevicePtr_t Hermite::device() const { return robot_; } | |
| 116 | } // namespace path | ||
| 117 | } // namespace core | ||
| 118 | } // namespace hpp | ||
| 119 |