| Directory: | ./ |
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| File: | include/hpp/pinocchio/liegroup-element.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_LIEGROUP_ELEMENT_HH | ||
| 30 | #define HPP_PINOCCHIO_LIEGROUP_ELEMENT_HH | ||
| 31 | |||
| 32 | #include <hpp/pinocchio/deprecated.hh> | ||
| 33 | #include <hpp/pinocchio/liegroup-space.hh> | ||
| 34 | #include <pinocchio/math/quaternion.hpp> | ||
| 35 | |||
| 36 | namespace hpp { | ||
| 37 | namespace pinocchio { | ||
| 38 | /// \addtogroup liegroup | ||
| 39 | /// \{ | ||
| 40 | |||
| 41 | /// Const reference to a \ref LiegroupElement | ||
| 42 | /// | ||
| 43 | /// \sa LiegroupSpace, LiegroupElementConstRef | ||
| 44 | template <typename vector_type> | ||
| 45 | class LiegroupElementConstBase { | ||
| 46 | public: | ||
| 47 | /// Constructor | ||
| 48 | /// \param value vector representation, | ||
| 49 | /// \param liegroupSpace space the element belongs to. | ||
| 50 | template <typename Derived> | ||
| 51 | 633 | LiegroupElementConstBase(const Eigen::EigenBase<Derived>& value, | |
| 52 | const LiegroupSpacePtr_t& liegroupSpace) | ||
| 53 | 633 | : value_(value.derived()), space_(liegroupSpace) { | |
| 54 | 633 | check(); | |
| 55 | 633 | } | |
| 56 | |||
| 57 | /// Constructor | ||
| 58 | /// \param value vector representation, | ||
| 59 | /// | ||
| 60 | /// By default the space containing the value is a vector space. | ||
| 61 | template <typename Derived> | ||
| 62 | explicit LiegroupElementConstBase(const Eigen::EigenBase<Derived>& value) | ||
| 63 | : value_(value.derived()), | ||
| 64 | space_(LiegroupSpace::create(value.derived().size())) {} | ||
| 65 | |||
| 66 | /// Constructor to allow *casting* LiegroupElement and LiegroupElementRef | ||
| 67 | /// into a LiegroupElementConstRef | ||
| 68 | template <typename vector_type2> | ||
| 69 | 1 | LiegroupElementConstBase(const LiegroupElementConstBase<vector_type2>& other) | |
| 70 | 1 | : value_(other.vector()), space_(other.space()) {} | |
| 71 | |||
| 72 | /// get reference to vector of Lie groups | ||
| 73 | 4687 | const LiegroupSpacePtr_t& space() const { return space_; } | |
| 74 | |||
| 75 | /// Const vector representation | ||
| 76 | 2652 | const vector_type& vector() const { return value_; } | |
| 77 | |||
| 78 | /// Size of the vector representation | ||
| 79 | ✗ | size_type size() const { return value_.size(); } | |
| 80 | |||
| 81 | /// Check that size of vector fits size of space | ||
| 82 | /// \note only in debug mode | ||
| 83 |
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633 | void check() const { assert(value_.size() == space_->nq()); } |
| 84 | |||
| 85 | /// Equality operator | ||
| 86 | template <typename vector_type2> | ||
| 87 | bool operator==(const LiegroupElementConstBase<vector_type2>& other) { | ||
| 88 | return ((*space_ == *(other.space_)) && (value_ == other.value_)); | ||
| 89 | } | ||
| 90 | |||
| 91 | /// Equality operator | ||
| 92 | template <typename vector_type2> | ||
| 93 | bool operator!=(const LiegroupElementConstBase<vector_type2>& other) { | ||
| 94 | return ((*space_ != *(other.space_)) || (value_ != other.value_)); | ||
| 95 | } | ||
| 96 | |||
| 97 | protected: | ||
| 98 | template <typename Derived> | ||
| 99 | 3336 | LiegroupElementConstBase(const Eigen::EigenBase<Derived>& value, | |
| 100 | const LiegroupSpacePtr_t& space, | ||
| 101 | void* /*to enable this constructor*/) | ||
| 102 | 3336 | : value_(const_cast<Derived&>(value.derived())), space_(space) {} | |
| 103 | |||
| 104 | vector_type value_; | ||
| 105 | LiegroupSpacePtr_t space_; | ||
| 106 | |||
| 107 | template <typename vector_type2> | ||
| 108 | friend class LiegroupElementConstBase; | ||
| 109 | template <typename vector_type2> | ||
| 110 | friend class LiegroupElementBase; | ||
| 111 | }; | ||
| 112 | |||
| 113 | /// Writable element of a Lie group | ||
| 114 | /// | ||
| 115 | /// \sa LiegroupSpace, LiegroupElement, LiegroupElementRef | ||
| 116 | template <typename vector_type> | ||
| 117 | class LiegroupElementBase : public LiegroupElementConstBase<vector_type> { | ||
| 118 | public: | ||
| 119 | typedef LiegroupElementConstBase<vector_type> Base; | ||
| 120 | |||
| 121 | /// Constructor | ||
| 122 | /// \param value vector representation, | ||
| 123 | /// \param space space the element belongs to. | ||
| 124 | 2583 | LiegroupElementBase(const vector_type& value, const LiegroupSpacePtr_t& space) | |
| 125 | 2583 | : Base(value, space, NULL) {} | |
| 126 | |||
| 127 | /// Constructor | ||
| 128 | /// \param space space the element belongs to. | ||
| 129 | 14 | LiegroupElementBase(const LiegroupSpacePtr_t& space) | |
| 130 |
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14 | : Base(vector_t(space->nq()), space) {} |
| 131 | |||
| 132 | /// Constructor | ||
| 133 | /// \param value vector representation, | ||
| 134 | /// | ||
| 135 | /// By default the space containing the value is a vector space. | ||
| 136 | 201 | explicit LiegroupElementBase(const vector_type& value) | |
| 137 |
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201 | : Base(value, LiegroupSpace::create(value.size()), NULL) {} |
| 138 | |||
| 139 | /// Copy constructor. Handles the following case: | ||
| 140 | /// \li LiegroupElement <- LiegroupElementConstRef | ||
| 141 | template <typename vector_type2> | ||
| 142 | 1204 | LiegroupElementBase(const LiegroupElementConstBase<vector_type2>& other) | |
| 143 | 1204 | : Base(other.value_, other.space()) {} | |
| 144 | |||
| 145 | /// Copy constructor. Handles the following cases: | ||
| 146 | /// \li LiegroupElement <- LiegroupElement | ||
| 147 | /// \li LiegroupElementRef <- LiegroupElementRef | ||
| 148 | /// \li LiegroupElement <- LiegroupElementRef | ||
| 149 | template <typename vector_type2> | ||
| 150 | LiegroupElementBase(const LiegroupElementBase<vector_type2>& other) | ||
| 151 | : Base(other.value_, other.space()) {} | ||
| 152 | |||
| 153 | /// *Casting* operator from LiegroupElement to LiegroupElementRef | ||
| 154 | template <typename vector_type2> | ||
| 155 | 1 | LiegroupElementBase(LiegroupElementBase<vector_type2>& other) | |
| 156 | 1 | : Base(other.value_, other.space(), NULL) {} | |
| 157 | |||
| 158 | /// Constructor of trivial element | ||
| 159 |
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12 | LiegroupElementBase() : Base(vector_t(), LiegroupSpace::empty()) {} |
| 160 | |||
| 161 | /// Const vector representation | ||
| 162 | 416 | const vector_type& vector() const { return Base::vector(); } | |
| 163 | |||
| 164 | /// Modifiable vector representation | ||
| 165 | 3156 | vector_type& vector() { return this->value_; } | |
| 166 | |||
| 167 | /// Set element to neutral element | ||
| 168 |
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14 | void setNeutral() { this->value_ = this->space_->neutral().vector(); } |
| 169 | |||
| 170 | /// Inplace integration of a velocity vector | ||
| 171 | LiegroupElementBase& operator+=(vectorIn_t v); | ||
| 172 | |||
| 173 | /// Assignment from another LiegroupElement | ||
| 174 | template <typename vector_type2> | ||
| 175 | LiegroupElementBase& operator=( | ||
| 176 | const LiegroupElementConstBase<vector_type2>& other) { | ||
| 177 | this->space_ = other.space(); | ||
| 178 | this->value_ = other.vector(); | ||
| 179 | return *this; | ||
| 180 | } | ||
| 181 | |||
| 182 | /// Assignment from a vector | ||
| 183 | template <typename Vector> | ||
| 184 | 1 | LiegroupElementBase& operator=(const Eigen::MatrixBase<Vector>& v) { | |
| 185 | EIGEN_STATIC_ASSERT_VECTOR_ONLY(Vector); | ||
| 186 |
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1 | assert(this->space_->nq() == v.derived().size()); |
| 187 |
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1 | this->value_.noalias() = v.derived(); |
| 188 | 1 | return *this; | |
| 189 | } | ||
| 190 | }; | ||
| 191 | |||
| 192 | /// Integration of a velocity vector from a configuration | ||
| 193 | /// | ||
| 194 | /// \param e element of the Lie group, | ||
| 195 | /// \param v element of the tangent space of the Lie group. | ||
| 196 | /// \return the element of the Lie group resulting from the integration | ||
| 197 | /// | ||
| 198 | /// By extension of the vector space case, we represent the integration | ||
| 199 | /// of a constant velocity during unit time by an addition | ||
| 200 | template <typename vector_type> | ||
| 201 | LiegroupElement operator+(const LiegroupElementConstBase<vector_type>& e, | ||
| 202 | vectorIn_t v); | ||
| 203 | |||
| 204 | /// Difference between two configurations | ||
| 205 | /// | ||
| 206 | /// \param e1, e2 elements of the Lie group, | ||
| 207 | /// \return the velocity that integrated from e2 yields e1 | ||
| 208 | /// | ||
| 209 | /// By extension of the vector space case, we represent the integration | ||
| 210 | /// of a constant velocity during unit time by an addition | ||
| 211 | template <typename vector_type1, typename vector_type2> | ||
| 212 | vector_t operator-(const LiegroupElementConstBase<vector_type1>& e1, | ||
| 213 | const LiegroupElementConstBase<vector_type2>& e2); | ||
| 214 | |||
| 215 | /// Check if a configuration is normalized | ||
| 216 | /// | ||
| 217 | /// \param e1 configuration to be checked | ||
| 218 | /// \param eps the error threshold | ||
| 219 | /// \return whether the configuration is normalized | ||
| 220 | /// | ||
| 221 | template <typename vector_type> | ||
| 222 | bool checkNormalized( | ||
| 223 | const LiegroupElementConstBase<vector_type>& e1, | ||
| 224 | const value_type& eps = PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE); | ||
| 225 | /// \} | ||
| 226 | |||
| 227 | /// Compute the log as a tangent vector of a Lie group element | ||
| 228 | template <typename vector_type> | ||
| 229 | vector_t log(const LiegroupElementConstBase<vector_type>& lge); | ||
| 230 | |||
| 231 | template <typename vector_type> | ||
| 232 | inline std::ostream& operator<<( | ||
| 233 | std::ostream& os, const LiegroupElementConstBase<vector_type>& e) { | ||
| 234 | os << "Lie group element in " << *(e.space()) << " represented by vector (" | ||
| 235 | << e.vector().transpose() << ")"; | ||
| 236 | return os; | ||
| 237 | } | ||
| 238 | } // namespace pinocchio | ||
| 239 | } // namespace hpp | ||
| 240 | |||
| 241 | HPP_SERIALIZABLE_SPLIT_FREE(hpp::pinocchio::LiegroupElement) | ||
| 242 | |||
| 243 | #endif // HPP_PINOCCHIO_LIEGROUP_ELEMENT_HH | ||
| 244 |