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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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#include <hpp/constraints/explicit/relative-pose.hh> |
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#include <hpp/constraints/generic-transformation.hh> |
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#include <hpp/constraints/implicit.hh> |
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#include <hpp/manipulation/device.hh> |
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#include <hpp/manipulation/handle.hh> |
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#include <hpp/pinocchio/gripper.hh> |
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#include <hpp/pinocchio/joint-collection.hh> |
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#include <hpp/pinocchio/joint.hh> |
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#include <hpp/util/debug.hh> |
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#include <pinocchio/multibody/joint/joint-generic.hpp> |
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namespace hpp { |
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namespace manipulation { |
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using constraints::DifferentiableFunction; |
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using constraints::Explicit; |
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using constraints::ExplicitPtr_t; |
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using constraints::Implicit; |
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using constraints::ImplicitPtr_t; |
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std::string Handle::className("Handle"); |
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namespace { |
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static const matrix3_t I3 = matrix3_t::Identity(); |
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struct ZeroDiffFunc : public DifferentiableFunction { |
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ZeroDiffFunc(size_type sIn, size_type sInD, |
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std::string name = std::string("Empty function")) |
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: DifferentiableFunction(sIn, sInD, LiegroupSpace::empty(), name) { |
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context("Grasp complement"); |
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} |
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inline void impl_compute(pinocchio::LiegroupElementRef, vectorIn_t) const {} |
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inline void impl_jacobian(matrixOut_t, vectorIn_t) const {} |
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}; |
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} // namespace |
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bool isHandleOnFreeflyer(const Handle& handle) { |
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const JointPtr_t& joint = handle.joint(); |
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if (joint && !joint->parentJoint() && |
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joint->jointModel().shortname() == |
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::pinocchio::JointModelFreeFlyer::classname()) { |
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return true; |
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} |
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return false; |
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} |
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inline int maskSize(const std::vector<bool>& mask) { |
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assert(mask.size() == 6); |
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std::size_t res(0); |
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for (std::size_t i = 0; i < 6; ++i) { |
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if (mask[i]) ++res; |
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} |
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return (int)res; |
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} |
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inline std::vector<bool> boolOr(std::vector<bool> mask1, |
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std::vector<bool> mask2) { |
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assert(mask1.size() == 6 && mask2.size() == 6); |
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std::vector<bool> res(mask1.size()); |
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for (std::size_t i = 0; i < 6; ++i) { |
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res[i] = mask1[i] || mask2[i]; |
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} |
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return res; |
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} |
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inline bool is6Dmask(const std::vector<bool>& mask) { |
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for (std::size_t i = 0; i < 6; ++i) |
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if (!mask[i]) return false; |
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return true; |
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} |
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inline std::vector<bool> complementMask(const std::vector<bool>& mask) { |
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assert(mask.size() == 6); |
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std::vector<bool> m(6); |
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for (std::size_t i = 0; i < 6; ++i) m[i] = !mask[i]; |
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return m; |
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} |
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inline std::string maskToStr(const std::vector<bool>& mask) { |
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std::stringstream ss; |
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ss << "("; |
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for (std::size_t i = 0; i < 5; ++i) ss << mask[i] << ","; |
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ss << mask[5] << ")"; |
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return ss.str(); |
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} |
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void Handle::mask(const std::vector<bool>& mask) { |
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assert(mask.size() == 6); |
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std::size_t nRotFree = 3; |
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for (std::size_t i = 3; i < 6; ++i) |
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if (mask[i]) nRotFree--; |
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switch (nRotFree) { |
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case 1: // TODO we should check the axis are properly aligned. |
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break; |
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case 2: // This does not make sense. |
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throw std::logic_error( |
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"It is not allowed to constrain only one rotation"); |
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break; |
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} |
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mask_ = mask; |
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maskComp_ = complementMask(mask); |
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} |
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void Handle::maskComp(const std::vector<bool>& mask) { |
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assert(maskComp_.size() == 6); |
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maskComp_ = mask; |
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} |
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ImplicitPtr_t Handle::createGrasp(const GripperPtr_t& gripper, |
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std::string n) const { |
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if (n.empty()) { |
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n = gripper->name() + "_grasps_" + name() + "_" + maskToStr(mask_); |
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} |
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// If handle is on a freeflying object, create an explicit constraint |
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if (is6Dmask(mask_) && isHandleOnFreeflyer(*this)) { |
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return constraints::explicit_::RelativePose::create( |
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n, robot(), gripper->joint(), joint(), gripper->objectPositionInJoint(), |
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localPosition(), 6 * constraints::EqualToZero); |
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} |
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return Implicit::create( |
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RelativeTransformationR3xSO3::create( |
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n, robot(), gripper->joint(), joint(), |
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gripper->objectPositionInJoint(), localPosition()), |
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6 * constraints::EqualToZero, mask_); |
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} |
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ImplicitPtr_t Handle::createGraspComplement(const GripperPtr_t& gripper, |
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std::string n) const { |
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if (n.empty()) { |
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n = gripper->name() + "_grasps_" + name() + "/complement_" + |
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maskToStr(maskComp_); |
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} |
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core::DevicePtr_t r = robot(); |
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if (maskSize(maskComp_) == 0) { |
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return Implicit::create(shared_ptr<ZeroDiffFunc>(new ZeroDiffFunc( |
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r->configSize(), r->numberDof(), n)), |
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ComparisonTypes_t()); |
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} else { |
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return Implicit::create( |
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RelativeTransformationR3xSO3::create(n, r, gripper->joint(), joint(), |
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gripper->objectPositionInJoint(), |
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localPosition()), |
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6 * constraints::Equality, maskComp_); |
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} |
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} |
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ImplicitPtr_t Handle::createGraspAndComplement(const GripperPtr_t& gripper, |
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std::string n) const { |
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if (n.empty()) { |
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n = gripper->name() + "_holds_" + name(); |
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} |
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// Create the comparison operator |
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assert(mask_.size() == 6); |
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ComparisonTypes_t comp(6); |
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for (std::size_t i = 0; i < 6; ++i) { |
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if (mask_[i]) { |
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comp[i] = constraints::EqualToZero; |
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} else { |
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comp[i] = constraints::Equality; |
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} |
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} |
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// If handle is on a freeflying object, create an explicit constraint |
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if (isHandleOnFreeflyer(*this) && maskSize(boolOr(mask_, maskComp_)) == 6) { |
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return constraints::explicit_::RelativePose::create( |
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n, robot(), gripper->joint(), joint(), gripper->objectPositionInJoint(), |
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localPosition(), comp); |
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} |
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return Implicit::create( |
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RelativeTransformationR3xSO3::create( |
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n, robot(), gripper->joint(), joint(), |
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gripper->objectPositionInJoint(), localPosition()), |
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comp, boolOr(mask_, maskComp_)); |
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} |
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ImplicitPtr_t Handle::createPreGrasp(const GripperPtr_t& gripper, |
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const value_type& shift, |
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std::string n) const { |
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Transform3s M = gripper->objectPositionInJoint() * |
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Transform3s(I3, vector3_t(shift, 0, 0)); |
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if (n.empty()) |
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n = "Pregrasp_ " + maskToStr(mask_) + "_" + name() + "_" + gripper->name(); |
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ImplicitPtr_t result(Implicit::create( |
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RelativeTransformationR3xSO3::create(n, robot(), gripper->joint(), |
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joint(), M, localPosition()), |
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6 * constraints::EqualToZero, mask_)); |
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return result; |
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} |
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HandlePtr_t Handle::clone() const { |
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HandlePtr_t other = Handle::create(name(), localPosition(), robot(), joint()); |
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other->mask(mask_); |
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other->mask(maskComp_); |
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other->clearance(clearance_); |
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return other; |
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} |
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std::ostream& Handle::print(std::ostream& os) const { |
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os << "name :" << name() << std::endl; |
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os << "local position :" << localPosition() << std::endl; |
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os << "joint :" << joint()->name() << std::endl; |
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os << "mask :" << maskToStr(mask()) << std::endl; |
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os << "mask complement:" << maskToStr(maskComp_) << std::endl; |
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return os; |
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} |
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std::ostream& operator<<(std::ostream& os, const Handle& handle) { |
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return handle.print(os); |
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} |
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} // namespace manipulation |
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} // namespace hpp |
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