| Directory: | ./ |
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| File: | include/hpp/pinocchio/liegroup/cartesian-product.hh |
| Date: | 2025-05-04 12:09:19 |
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| Lines: | 13 | 14 | 92.9% |
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| 1 | // Copyright (c) 2017, 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 | #ifndef HPP_PINOCCHIO_LIEGROUP_CARTESIAN_PRODUCT_OPERATION_HH | ||
| 30 | #define HPP_PINOCCHIO_LIEGROUP_CARTESIAN_PRODUCT_OPERATION_HH | ||
| 31 | |||
| 32 | #include <hpp/util/exception-factory.hh> | ||
| 33 | #include <pinocchio/multibody/liegroup/cartesian-product.hpp> | ||
| 34 | |||
| 35 | namespace hpp { | ||
| 36 | namespace pinocchio { | ||
| 37 | namespace liegroup { | ||
| 38 | template <typename LieGroup1, typename LieGroup2> | ||
| 39 | struct CartesianProductOperation | ||
| 40 | : public ::pinocchio::CartesianProductOperation<LieGroup1, LieGroup2> { | ||
| 41 | enum { | ||
| 42 | BoundSize = LieGroup1::BoundSize + LieGroup2::BoundSize, | ||
| 43 | NR = LieGroup1::NR + LieGroup2::NR, | ||
| 44 | NT = LieGroup1::NT + LieGroup2::NT | ||
| 45 | }; | ||
| 46 | |||
| 47 | typedef ::pinocchio::CartesianProductOperation<LieGroup1, LieGroup2> Base; | ||
| 48 | |||
| 49 | template <class ConfigL_t, class ConfigR_t> | ||
| 50 | double squaredDistance(const Eigen::MatrixBase<ConfigL_t>& q0, | ||
| 51 | const Eigen::MatrixBase<ConfigR_t>& q1) { | ||
| 52 | return Base::squaredDistance(q0, q1); | ||
| 53 | } | ||
| 54 | |||
| 55 | template <class ConfigL_t, class ConfigR_t> | ||
| 56 | double squaredDistance(const Eigen::MatrixBase<ConfigL_t>& q0, | ||
| 57 | const Eigen::MatrixBase<ConfigR_t>& q1, | ||
| 58 | const typename ConfigL_t::Scalar& w) { | ||
| 59 | return LieGroup1().squaredDistance(q0.template head<LieGroup1::NQ>(), | ||
| 60 | q1.template head<LieGroup1::NQ>(), w) + | ||
| 61 | LieGroup2().squaredDistance(q0.template tail<LieGroup2::NQ>(), | ||
| 62 | q1.template tail<LieGroup2::NQ>(), w); | ||
| 63 | } | ||
| 64 | |||
| 65 | template <class ConfigIn_t, class ConfigOut_t> | ||
| 66 | 16 | static void setBound(const Eigen::MatrixBase<ConfigIn_t>& bound, | |
| 67 | const Eigen::MatrixBase<ConfigOut_t>& out) { | ||
| 68 | EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigOut_t, Base::ConfigVector_t) | ||
| 69 | ConfigOut_t& oout = | ||
| 70 | 16 | const_cast<Eigen::MatrixBase<ConfigOut_t>&>(out).derived(); | |
| 71 |
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16 | if (bound.size() == BoundSize) { |
| 72 | if (LieGroup1::BoundSize > 0) | ||
| 73 |
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12 | LieGroup1::setBound(bound.template head<LieGroup1::BoundSize>(), |
| 74 | 24 | oout.template head<LieGroup1::NQ>()); | |
| 75 | if (LieGroup2::BoundSize > 0) | ||
| 76 | LieGroup2::setBound(bound.template tail<LieGroup2::BoundSize>(), | ||
| 77 | oout.template tail<LieGroup2::NQ>()); | ||
| 78 |
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4 | } else if (bound.size() == Base::NQ) { |
| 79 |
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4 | LieGroup1::setBound(bound.template head<LieGroup1::NQ>(), |
| 80 | 4 | oout.template head<LieGroup1::NQ>()); | |
| 81 |
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4 | LieGroup2::setBound(bound.template tail<LieGroup2::NQ>(), |
| 82 | 8 | oout.template tail<LieGroup2::NQ>()); | |
| 83 | } else { | ||
| 84 | ✗ | HPP_THROW(std::invalid_argument, "Expected vector of size " | |
| 85 | << (int)BoundSize << " or " | ||
| 86 | << (int)Base::NQ << ", got size " | ||
| 87 | << bound.size()); | ||
| 88 | } | ||
| 89 | } | ||
| 90 | |||
| 91 | template <class JacobianIn_t, class JacobianOut_t> | ||
| 92 | static void getRotationSubJacobian( | ||
| 93 | const Eigen::MatrixBase<JacobianIn_t>& Jin, | ||
| 94 | const Eigen::MatrixBase<JacobianOut_t>& Jout) { | ||
| 95 | JacobianOut_t& J = | ||
| 96 | const_cast<Eigen::MatrixBase<JacobianOut_t>&>(Jout).derived(); | ||
| 97 | if (LieGroup1::NR > 0) | ||
| 98 | LieGroup1::getRotationSubJacobian(Jin.template leftCols<LieGroup1::NV>(), | ||
| 99 | J.template leftCols<LieGroup1::NR>()); | ||
| 100 | if (LieGroup2::NR > 0) | ||
| 101 | LieGroup2::getRotationSubJacobian(Jin.template rightCols<LieGroup2::NV>(), | ||
| 102 | J.template rightCols<LieGroup2::NR>()); | ||
| 103 | } | ||
| 104 | |||
| 105 | template <class ConfigIn_t> | ||
| 106 | 32137 | static bool isNormalized(const Eigen::MatrixBase<ConfigIn_t>& q, | |
| 107 | const value_type& eps) { | ||
| 108 | EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigIn_t, Base::ConfigVector_t); | ||
| 109 | 64274 | return LieGroup1::isNormalized(q.template head<LieGroup1::NQ>(), eps) && | |
| 110 | 64274 | LieGroup2::isNormalized(q.template tail<LieGroup2::NQ>(), eps); | |
| 111 | } | ||
| 112 | }; // struct CartesianProductOperation | ||
| 113 | } // namespace liegroup | ||
| 114 | } // namespace pinocchio | ||
| 115 | } // namespace hpp | ||
| 116 | |||
| 117 | #endif // HPP_PINOCCHIO_LIEGROUP_CARTESIAN_PRODUCT_OPERATION_HH | ||
| 118 |