| Directory: | ./ |
|---|---|
| File: | src/log-visitor.hh |
| Date: | 2025-05-04 12:09:19 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 10 | 25 | 40.0% |
| Branches: | 11 | 48 | 22.9% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 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_SRC_LOG_VISITOR_HH | ||
| 30 | #define HPP_PINOCCHIO_SRC_LOG_VISITOR_HH | ||
| 31 | |||
| 32 | #include <Eigen/Geometry> | ||
| 33 | |||
| 34 | namespace hpp { | ||
| 35 | namespace pinocchio { | ||
| 36 | namespace liegroupType { | ||
| 37 | |||
| 38 | typedef Eigen::Quaternion<value_type> quaternion_t; | ||
| 39 | |||
| 40 | /// Visitor to compute log of a LiegroupType instance | ||
| 41 | struct LogVisitor : public boost::static_visitor<> { | ||
| 42 |
1/2✓ Branch 2 taken 102 times.
✗ Branch 3 not taken.
|
102 | LogVisitor(vectorIn_t v, vectorOut_t log) : v_(v), log(log) {} |
| 43 | template <typename LiegroupType> | ||
| 44 | void operator()(const LiegroupType& lg); | ||
| 45 | vectorIn_t v_; | ||
| 46 | vectorOut_t log; | ||
| 47 | }; // struct LogVisitor | ||
| 48 | |||
| 49 | template <> | ||
| 50 | 1 | inline void LogVisitor::operator()<liegroup::CartesianProductOperation< | |
| 51 | liegroup::VectorSpaceOperation<3, false>, | ||
| 52 | liegroup::SpecialOrthogonalOperation<3> > >( | ||
| 53 | const liegroup::CartesianProductOperation< | ||
| 54 | liegroup::VectorSpaceOperation<3, false>, | ||
| 55 | liegroup::SpecialOrthogonalOperation<3> >&) { | ||
| 56 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
|
1 | log.head<3>() = v_.head<3>(); |
| 57 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
1 | quaternion_t q(v_.tail<4>()); |
| 58 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | Eigen::AngleAxis<value_type> u(q); |
| 59 |
1/2✗ Branch 1 not taken.
✓ Branch 2 taken 1 times.
|
1 | if (u.angle() > M_PI) { |
| 60 | ✗ | log.tail<3>() = -(2 * M_PI - u.angle()) * u.axis(); | |
| 61 | } else { | ||
| 62 |
3/6✓ Branch 3 taken 1 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 1 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 1 times.
✗ Branch 10 not taken.
|
1 | log.tail<3>() = u.axis() * u.angle(); |
| 63 | } | ||
| 64 | 1 | } | |
| 65 | |||
| 66 | template <> | ||
| 67 | ✗ | inline void LogVisitor::operator()<liegroup::CartesianProductOperation< | |
| 68 | liegroup::VectorSpaceOperation<2, false>, | ||
| 69 | liegroup::SpecialOrthogonalOperation<2> > >( | ||
| 70 | const liegroup::CartesianProductOperation< | ||
| 71 | liegroup::VectorSpaceOperation<2, false>, | ||
| 72 | liegroup::SpecialOrthogonalOperation<2> >&) { | ||
| 73 | ✗ | log.head<2>() = v_.head<2>(); | |
| 74 | ✗ | value_type c = v_[2], s = v_[3]; | |
| 75 | ✗ | log[2] = atan2(s, c); | |
| 76 | } | ||
| 77 | |||
| 78 | template <> | ||
| 79 | ✗ | inline void LogVisitor::operator()<liegroup::SpecialOrthogonalOperation<2> >( | |
| 80 | const liegroup::SpecialOrthogonalOperation<2>&) { | ||
| 81 | ✗ | value_type c = v_[0], s = v_[1]; | |
| 82 | ✗ | log[0] = atan2(s, c); | |
| 83 | } | ||
| 84 | |||
| 85 | template <> | ||
| 86 | ✗ | inline void LogVisitor::operator()<liegroup::SpecialOrthogonalOperation<3> >( | |
| 87 | const liegroup::SpecialOrthogonalOperation<3>&) { | ||
| 88 | ✗ | vector4_t tmp(v_); | |
| 89 | ✗ | quaternion_t q(tmp); | |
| 90 | ✗ | Eigen::AngleAxis<value_type> u(q); | |
| 91 | ✗ | if (u.angle() > M_PI) { | |
| 92 | ✗ | log = -(2 * M_PI - u.angle()) * u.axis(); | |
| 93 | } else { | ||
| 94 | ✗ | log = u.axis() * u.angle(); | |
| 95 | } | ||
| 96 | } | ||
| 97 | |||
| 98 | template <typename LiegroupType> | ||
| 99 | 202 | void LogVisitor::operator()(const LiegroupType&) { | |
| 100 | 202 | log = v_; | |
| 101 | } | ||
| 102 | } // namespace liegroupType | ||
| 103 | } // namespace pinocchio | ||
| 104 | } // namespace hpp | ||
| 105 | |||
| 106 | #endif // HPP_PINOCCHIO_SRC_LOG_VISITOR_HH | ||
| 107 |