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// Copyright (c) 2017, CNRS |
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// Authors: Florent Lamiraux |
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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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namespace hpp { |
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namespace pinocchio { |
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namespace liegroup { |
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namespace level1 { |
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IsEqualVisitor::IsEqualVisitor(const LiegroupType& lg2) : lg2_(lg2) {} |
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template <typename LgT1> |
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bool IsEqualVisitor::operator()(const LgT1& lg1) { |
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hppDout(info, "level1::isEqual::operator ()"); |
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return isEqual(lg1, lg2_); |
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} |
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template <typename LgT1> |
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bool isEqual(const LgT1& lgt1, const LiegroupType& lgt2) { |
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hppDout(info, "level1::isEqual"); |
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level2::IsEqualVisitor<LgT1> visitor(lgt1); |
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return boost::apply_visitor(visitor, lgt2); |
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} |
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} // namespace level1 |
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namespace level2 { |
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template <typename LgT1> |
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IsEqualVisitor<LgT1>::IsEqualVisitor(const LgT1& lg1) : lg1_(lg1) {} |
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template <typename LgT1> |
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template <typename LgT2> |
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bool IsEqualVisitor<LgT1>::operator()(const LgT2& lg2) { |
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hppDout(info, "level2::isEqual::operator ()"); |
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Comparison<LgT1, LgT2> comp; |
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return comp(lg1_, lg2); |
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} |
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} // namespace level2 |
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// Specialization for vector spaces |
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template <bool rot> |
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bool Comparison<VectorSpaceOperation<Eigen::Dynamic, rot>, |
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VectorSpaceOperation<Eigen::Dynamic, rot> >:: |
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operator()(const VectorSpaceOperation<Eigen::Dynamic, rot>& lgt1, |
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const VectorSpaceOperation<Eigen::Dynamic, rot>& lgt2) { |
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hppDout(info, "Comparison::operator () for vector spaces"); |
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return (lgt1.nq() == lgt2.nq()); |
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} |
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template <int Size, bool rot> |
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bool Comparison<VectorSpaceOperation<Eigen::Dynamic, rot>, |
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VectorSpaceOperation<Size, rot> >:: |
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operator()(const VectorSpaceOperation<Eigen::Dynamic, rot>& lgt1, |
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const VectorSpaceOperation<Size, rot>& lgt2) { |
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hppDout(info, "Comparison::operator () for vector spaces"); |
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return (lgt1.nq() == lgt2.nq()); |
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} |
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template <int Size, bool rot> |
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bool Comparison<VectorSpaceOperation<Size, rot>, |
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VectorSpaceOperation<Eigen::Dynamic, rot> >:: |
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operator()(const VectorSpaceOperation<Size, rot>& lgt1, |
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const VectorSpaceOperation<Eigen::Dynamic, rot>& lgt2) { |
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hppDout(info, "Comparison::operator () for vector spaces"); |
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return (lgt1.nq() == lgt2.nq()); |
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} |
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// Specialization for same types |
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template <typename LgT> |
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bool Comparison<LgT, LgT>::operator()(const LgT&, const LgT&) { |
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hppDout(info, "Comparison::operator () for same types"); |
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return true; |
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} |
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template <typename LgT1, typename LgT2> |
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bool Comparison<LgT1, LgT2>::operator()(const LgT1&, const LgT2&) { |
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hppDout(info, "Default Comparison::operator ()"); |
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return false; |
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} |
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} // namespace liegroup |
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} // namespace pinocchio |
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} // namespace hpp |
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