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// Copyright (c) 2018, CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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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_JDIFFERENCE_VISITOR_HH |
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#define HPP_PINOCCHIO_SRC_JDIFFERENCE_VISITOR_HH |
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#include <hpp/pinocchio/liegroup/vector-space.hh> |
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namespace hpp { |
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namespace pinocchio { |
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using ::pinocchio::ARG0; |
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using ::pinocchio::ARG1; |
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using ::pinocchio::ArgumentPosition; |
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namespace liegroupType { |
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template <ArgumentPosition arg, DerivativeProduct side> |
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struct dDifferenceVisitor : public boost::static_visitor<> { |
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dDifferenceVisitor(vectorIn_t& q0, vectorIn_t& q1, matrixOut_t& J) |
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: q0_(q0), q1_(q1), J_(J), iq_(0), iv_(0) {} |
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template <typename LgT> |
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void operator()(const LgT& lg) { |
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typename LgT::JacobianMatrix_t Jint(lg.nv(), lg.nv()); |
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lg.template dDifference<arg>(q0_.segment<LgT::NQ>(iq_, lg.nq()), |
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q1_.segment<LgT::NQ>(iq_, lg.nq()), Jint); |
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if (side == DerivativeTimesInput) |
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J_.middleRows<LgT::NV>(iv_, lg.nv()).applyOnTheLeft(Jint); |
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else |
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J_.middleCols<LgT::NV>(iv_, lg.nv()).applyOnTheRight(Jint); |
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iq_ += lg.nq(); |
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iv_ += lg.nv(); |
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} |
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template <int N, bool rot> |
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void operator()(const liegroup::VectorSpaceOperation<N, rot>& lg) { |
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if (arg == ARG0) { |
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if (side == DerivativeTimesInput) |
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J_.middleRows<N>(iv_, lg.nv()) *= -1; |
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else |
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J_.middleCols<N>(iv_, lg.nv()) *= -1; |
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} |
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iq_ += lg.nq(); |
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iv_ += lg.nv(); |
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} |
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vectorIn_t &q0_, q1_; |
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matrixOut_t& J_; |
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size_type iq_, iv_; |
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}; // struct dDifferenceVisitor |
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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_JDIFFERENCE_VISITOR_HH |
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