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// Copyright (c) 2020, CNRS |
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// Authors: Joseph Mirabel |
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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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#ifndef HPP_PINOCCHIO_SRC_VISITOR_INTERPOLATE_HH |
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#define HPP_PINOCCHIO_SRC_VISITOR_INTERPOLATE_HH |
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namespace hpp { |
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namespace pinocchio { |
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namespace liegroupType { |
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namespace visitor { |
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/// Interpolate |
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struct Interpolate : public boost::static_visitor<> { |
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Interpolate(const vectorIn_t& e1, const vectorIn_t& e2, value_type u, |
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vectorOut_t& er) |
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: e1_(e1), e2_(e2), u_(u), er_(er), iq_(0), iv_(0) {} |
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template <typename LiegroupType> |
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void operator()(LiegroupType& op) { |
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op.interpolate(e1_.segment<LiegroupType::NQ>(iq_, op.nq()), |
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e2_.segment<LiegroupType::NQ>(iq_, op.nq()), u_, |
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er_.segment<LiegroupType::NQ>(iq_, op.nq())); |
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iq_ += op.nq(); |
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iv_ += op.nv(); |
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} |
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const vectorIn_t& e1_; |
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const vectorIn_t& e2_; |
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value_type u_; |
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vectorOut_t& er_; |
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size_type iq_, iv_; |
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}; // struct Interpolate Visitor |
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} // namespace visitor |
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} // namespace liegroupType |
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} // namespace pinocchio |
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} // namespace hpp |
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#endif // HPP_PINOCCHIO_SRC_VISITOR_INTERPOLATE_HH |
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