liegroup.hh

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// Copyright (c) 2017, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_PINOCCHIO_LIEGROUP_HH
#define HPP_PINOCCHIO_LIEGROUP_HH
 
#include <hpp/pinocchio/deprecated.hh>
#include <hpp/pinocchio/liegroup/cartesian-product.hh>
#include <hpp/pinocchio/liegroup/special-euclidean.hh>
#include <hpp/pinocchio/liegroup/special-orthogonal.hh>
#include <hpp/pinocchio/liegroup/vector-space.hh>
#include <pinocchio/multibody/joint/joints.hpp>
 
namespace hpp {
namespace pinocchio {
 
struct RnxSOnLieGroupMap {
  template <typename JointModel>
  struct operation {};
};
 
struct DefaultLieGroupMap {
  template <typename JointModel>
  struct operation {};
};
 
//---------------- RnxSOnLieGroupMap -------------------------------//
// JointModelRevolute, JointModelRevoluteUnbounded, JointModelRevoluteUnaligned,
// JointModelRevoluteUnboundedUnaligned
template <typename Scalar, int Options, int Axis>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelRevoluteTpl<Scalar, Options, Axis>> {
  typedef liegroup::VectorSpaceOperation<1, true> type;
};
template <typename Scalar, int Options, int Axis>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar, Options, Axis>> {
  typedef liegroup::SpecialOrthogonalOperation<2> type;
};
template <typename Scalar, int Options>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<1, true> type;
};
template <typename Scalar, int Options>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options>> {
  typedef liegroup::SpecialOrthogonalOperation<2> type;
};
 
// JointModelPrismaticTpl, JointModelPrismaticUnaligned, JointModelTranslation
template <typename Scalar, int Options, int Axis>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelPrismaticTpl<Scalar, Options, Axis>> {
  typedef liegroup::VectorSpaceOperation<1, false> type;
};
template <typename Scalar, int Options>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<1, false> type;
};
template <typename Scalar, int Options>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelTranslationTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<3, false> type;
};
 
// JointModelSpherical, JointModelSphericalZYX,
template <typename Scalar, int Options>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelSphericalTpl<Scalar, Options>> {
  typedef liegroup::SpecialOrthogonalOperation<3> type;
};
template <typename Scalar, int Options>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelSphericalZYXTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<3, true> type;
};
 
// JointModelFreeFlyer, JointModelPlanar
template <typename Scalar, int Options>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelFreeFlyerTpl<Scalar, Options>> {
  typedef liegroup::CartesianProductOperation<
      liegroup::VectorSpaceOperation<3, false>,
      liegroup::SpecialOrthogonalOperation<3>>
      type;
};
template <typename Scalar, int Options>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelPlanarTpl<Scalar, Options>> {
  typedef liegroup::CartesianProductOperation<
      liegroup::VectorSpaceOperation<2, false>,
      liegroup::SpecialOrthogonalOperation<2>>
      type;
};
 
// New in pinocchio 3
#if PINOCCHIO_VERSION_AT_LEAST(3, 4, 1)
// JointModelMimic
// Not yet supported: this code is here only to make compilation pass.
template <typename Scalar, int Options>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelMimicTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<1, true> type;
};
#else
// JointModelMimic
// Not yet supported: this code is here only to make compilation pass.
template <typename OtherJointType>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelMimic<OtherJointType>> {
  typedef typename RnxSOnLieGroupMap::operation<OtherJointType>::type type;
};
#endif
// JointModelHelical
// Not yet supported: this code is here only to make compilation pass.
template <typename Scalar, int Options, int _axis>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelHelicalTpl<Scalar, Options, _axis>> {
  typedef liegroup::VectorSpaceOperation<1, true> type;
};
 
// JointModelHelicalUnaligned
template <typename Scalar, int Options>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<1, true> type;
};
 
// JointModelUniversal
template <typename Scalar, int Options>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelUniversalTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<
      ::pinocchio::JointModelUniversalTpl<Scalar, Options>::NQ, false>
      type;
};
 
// JointModelComposite (not implemented returns vector space of variable
// dimension)
template <typename Scalar, int Options,
          template <typename S, int O> class JointCollectionTpl>
struct RnxSOnLieGroupMap::operation<
    ::pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollectionTpl>> {
  typedef liegroup::VectorSpaceOperation<Eigen::Dynamic, false> type;
};
 
//---------------- DefaultLieGroupMap ------------------------------------//
 
// JointModelRevolute, JointModelRevoluteUnbounded, JointModelRevoluteUnaligned,
// JointModelRevoluteUnboundedUnaligned
template <typename Scalar, int Options, int Axis>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelRevoluteTpl<Scalar, Options, Axis>> {
  typedef liegroup::VectorSpaceOperation<1, true> type;
};
template <typename Scalar, int Options, int Axis>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar, Options, Axis>> {
  typedef liegroup::SpecialOrthogonalOperation<2> type;
};
template <typename Scalar, int Options>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<1, true> type;
};
template <typename Scalar, int Options>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options>> {
  typedef liegroup::SpecialOrthogonalOperation<2> type;
};
 
// JointModelPrismaticTpl, JointModelPrismaticUnaligned, JointModelTranslation
template <typename Scalar, int Options, int Axis>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelPrismaticTpl<Scalar, Options, Axis>> {
  typedef liegroup::VectorSpaceOperation<1, false> type;
};
template <typename Scalar, int Options>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<1, false> type;
};
template <typename Scalar, int Options>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelTranslationTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<3, false> type;
};
 
// JointModelSpherical, JointModelSphericalZYX,
template <typename Scalar, int Options>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelSphericalTpl<Scalar, Options>> {
  typedef liegroup::SpecialOrthogonalOperation<3> type;
};
template <typename Scalar, int Options>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelSphericalZYXTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<3, true> type;
};
 
// JointModelFreeFlyer, JointModelPlanar
template <typename Scalar, int Options>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelFreeFlyerTpl<Scalar, Options>> {
  typedef liegroup::SpecialEuclideanOperation<3> type;
};
template <typename Scalar, int Options>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelPlanarTpl<Scalar, Options>> {
  typedef liegroup::SpecialEuclideanOperation<2> type;
};
 
// New in pinocchio 3
#if PINOCCHIO_VERSION_AT_LEAST(3, 4, 1)
// JointModelMimic
template <typename Scalar, int Options>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelMimicTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<1, true> type;
};
#else
// JointModelMimic
template <typename OtherJointType>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelMimic<OtherJointType>> {
  typedef typename DefaultLieGroupMap::operation<OtherJointType>::type type;
};
#endif
// JointModelHelical
template <typename Scalar, int Options, int _axis>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelHelicalTpl<Scalar, Options, _axis>> {
  typedef liegroup::VectorSpaceOperation<1, true> type;
};
 
// JointModelHelicalUnaligned
template <typename Scalar, int Options>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<1, true> type;
};
 
// JointModelUniversal
template <typename Scalar, int Options>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelUniversalTpl<Scalar, Options>> {
  typedef liegroup::VectorSpaceOperation<
      ::pinocchio::JointModelUniversalTpl<Scalar, Options>::NQ, false>
      type;
};
 
// JointModelComposite (not implemented returns vector space of variable
// dimension)
template <typename Scalar, int Options,
          template <typename S, int O> class JointCollectionTpl>
struct DefaultLieGroupMap::operation<
    ::pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollectionTpl>> {
  typedef liegroup::VectorSpaceOperation<Eigen::Dynamic, false> type;
};
 
}  // namespace pinocchio
}  // namespace hpp
 
#endif  // HPP_PINOCCHIO_LIEGROUP_HH