| Directory: | ./ |
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| File: | src/addition-visitor.hh |
| Date: | 2025-05-04 12:09:19 |
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| 1 | // Copyright (c) 2017, CNRS | ||
| 2 | // Authors: Florent Lamiraux | ||
| 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 | #ifndef HPP_PINOCCHIO_SRC_ADDITION_VISITOR_HH | ||
| 30 | #define HPP_PINOCCHIO_SRC_ADDITION_VISITOR_HH | ||
| 31 | |||
| 32 | #include <Eigen/Geometry> | ||
| 33 | |||
| 34 | namespace hpp { | ||
| 35 | namespace pinocchio { | ||
| 36 | namespace liegroupType { | ||
| 37 | |||
| 38 | typedef Eigen::Quaternion<value_type> quaternion_t; | ||
| 39 | |||
| 40 | /// Addition visitor | ||
| 41 | template <typename vector_type> | ||
| 42 | struct AdditionVisitor : public boost::static_visitor<> { | ||
| 43 | 1204 | AdditionVisitor(vector_type& e, const vectorIn_t& v) | |
| 44 | 1204 | : e_(e), v_(v), iq_(0), iv_(0) {} | |
| 45 | template <typename LiegroupType> | ||
| 46 | 1204 | void operator()(LiegroupType& op) { | |
| 47 |
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1204 | op.integrate(e_.template segment<LiegroupType::NQ>(iq_, op.nq()), |
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1204 | v_.segment<LiegroupType::NV>(iv_, op.nv()), |
| 49 | 1204 | e_.template segment<LiegroupType::NQ>(iq_, op.nq())); | |
| 50 | |||
| 51 | 1204 | iq_ += op.nq(); | |
| 52 | 1204 | iv_ += op.nv(); | |
| 53 | } | ||
| 54 | vector_type& e_; | ||
| 55 | const vectorIn_t& v_; | ||
| 56 | size_type iq_, iv_; | ||
| 57 | }; // struct AdditionVisitor | ||
| 58 | |||
| 59 | } // namespace liegroupType | ||
| 60 | } // namespace pinocchio | ||
| 61 | } // namespace hpp | ||
| 62 | |||
| 63 | #endif // HPP_PINOCCHIO_SRC_ADDITION_VISITOR_HH | ||
| 64 |