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// Copyright (c) 2017, Joseph Mirabel |
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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_LIEGROUP_VECTOR_SPACE_OPERATION_HH |
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#define HPP_PINOCCHIO_LIEGROUP_VECTOR_SPACE_OPERATION_HH |
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#include <hpp/pinocchio/fwd.hh> |
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#include <hpp/util/exception-factory.hh> |
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#include <pinocchio/multibody/liegroup/vector-space.hpp> |
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namespace hpp { |
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namespace pinocchio { |
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namespace liegroup { |
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/// \cond |
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namespace details { |
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template <bool Test> |
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struct assign_if { |
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template <class D1, class D2> |
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static void run(const Eigen::MatrixBase<D1>& /*Jin*/, |
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const Eigen::MatrixBase<D2>& /*Jout*/) {} |
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}; |
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template <> |
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struct assign_if<true> { |
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template <class D1, class D2> |
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static void run(const Eigen::MatrixBase<D1>& Jin, |
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const Eigen::MatrixBase<D2>& Jout) { |
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const_cast<Eigen::MatrixBase<D2>&>(Jout) = Jin; |
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} |
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}; |
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} // namespace details |
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/// \endcond |
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template <int Size, bool rot> |
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struct VectorSpaceOperation |
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: public ::pinocchio::VectorSpaceOperationTpl<Size, value_type> { |
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typedef ::pinocchio::VectorSpaceOperationTpl<Size, value_type> Base; |
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enum { BoundSize = Size, NR = (rot ? Size : 0), NT = (rot ? 0 : Size) }; |
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/// Constructor |
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/// \param size size of the vector space: should be the equal to |
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/// template argument for static sized vector-spaces. |
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VectorSpaceOperation(int size = std::max(0, Size)) : Base(size) {} |
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template <class ConfigL_t, class ConfigR_t> |
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double squaredDistance(const Eigen::MatrixBase<ConfigL_t>& q0, |
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const Eigen::MatrixBase<ConfigR_t>& q1) { |
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return Base::squaredDistance(q0, q1); |
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} |
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template <class ConfigL_t, class ConfigR_t> |
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double squaredDistance(const Eigen::MatrixBase<ConfigL_t>& q0, |
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const Eigen::MatrixBase<ConfigR_t>& q1, |
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const typename ConfigL_t::Scalar& w) { |
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if (rot) |
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return w * squaredDistance(q0, q1); |
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else |
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return squaredDistance(q0, q1); |
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} |
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template <class ConfigIn_t, class ConfigOut_t> |
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static void setBound(const Eigen::MatrixBase<ConfigIn_t>& bounds, |
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const Eigen::MatrixBase<ConfigOut_t>& out) { |
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if (bounds.size() != BoundSize) { |
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HPP_THROW(std::invalid_argument, "Expected vector of size " |
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<< (int)BoundSize << ", got size " |
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<< bounds.size()); |
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} |
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const_cast<Eigen::MatrixBase<ConfigOut_t>&>(out) = bounds; |
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} |
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template <class JacobianIn_t, class JacobianOut_t> |
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static void getRotationSubJacobian( |
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const Eigen::MatrixBase<JacobianIn_t>& Jin, |
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const Eigen::MatrixBase<JacobianOut_t>& Jout) { |
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details::assign_if<rot>::run(Jin, Jout); |
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} |
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template <class ConfigIn_t> |
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static bool isNormalized(const Eigen::MatrixBase<ConfigIn_t>&, |
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const value_type&) { |
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return true; |
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} |
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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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namespace pinocchio { |
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template <int Size, bool rot> |
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struct traits<hpp::pinocchio::liegroup::VectorSpaceOperation<Size, rot> > |
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: public traits<typename hpp::pinocchio::liegroup::VectorSpaceOperation< |
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Size, rot>::Base> {}; |
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} // namespace pinocchio |
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#endif // HPP_PINOCCHIO_LIEGROUP_VECTOR_SPACE_OPERATION_HH |
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