liegroup-space.hh

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// Copyright (c) 2017, CNRS
// Authors: Florent Lamiraux
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// DAMAGE.
 
#ifndef HPP_PINOCCHIO_LIEGROUP_SPACE_HH
#define HPP_PINOCCHIO_LIEGROUP_SPACE_HH
 
#include <boost/variant.hpp>
#include <hpp/pinocchio/fwd.hh>
#include <hpp/pinocchio/liegroup.hh>
#include <hpp/util/serialization-fwd.hh>
#include <pinocchio/fwd.hpp>
#include <pinocchio/multibody/liegroup/special-euclidean.hpp>
#include <pinocchio/multibody/liegroup/special-orthogonal.hpp>
#include <pinocchio/multibody/liegroup/vector-space.hpp>
#include <string>
#include <vector>
 
namespace hpp {
namespace pinocchio {
 
#ifdef HPP_PINOCCHIO_PARSED_BY_DOXYGEN
typedef ABoostVariant LiegroupType;
#else
typedef boost::variant<liegroup::VectorSpaceOperation<Eigen::Dynamic, false>,
                       liegroup::VectorSpaceOperation<1, true>,
                       liegroup::VectorSpaceOperation<1, false>,
                       liegroup::VectorSpaceOperation<2, false>,
                       liegroup::VectorSpaceOperation<3, false>,
                       liegroup::VectorSpaceOperation<3, true>,
                       liegroup::CartesianProductOperation<
                           liegroup::VectorSpaceOperation<3, false>,
                           liegroup::SpecialOrthogonalOperation<3> >,
                       liegroup::CartesianProductOperation<
                           liegroup::VectorSpaceOperation<2, false>,
                           liegroup::SpecialOrthogonalOperation<2> >,
                       liegroup::SpecialOrthogonalOperation<2>,
                       liegroup::SpecialOrthogonalOperation<3>,
                       liegroup::SpecialEuclideanOperation<2>,
                       liegroup::SpecialEuclideanOperation<3> >
    LiegroupType;
#endif
 
enum DerivativeProduct { DerivativeTimesInput, InputTimesDerivative };
 
class LiegroupSpace {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  static LiegroupSpacePtr_t Rn(const size_type& n);
  static LiegroupSpacePtr_t R1(bool rotation = false);
  static LiegroupSpacePtr_t R2();
  static LiegroupSpacePtr_t R3();
  static LiegroupSpacePtr_t SE2();
  static LiegroupSpacePtr_t SE3();
  static LiegroupSpacePtr_t SO2();
  static LiegroupSpacePtr_t SO3();
  static LiegroupSpacePtr_t R2xSO2();
  static LiegroupSpacePtr_t R3xSO3();
  static LiegroupSpacePtr_t empty();
 
  static LiegroupSpacePtr_t create(const size_type& size) {
    LiegroupSpace* ptr(new LiegroupSpace(size));
    LiegroupSpacePtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  static LiegroupSpacePtr_t createCopy(const LiegroupSpaceConstPtr_t& other) {
    LiegroupSpace* ptr(new LiegroupSpace(*other));
    LiegroupSpacePtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  static LiegroupSpacePtr_t create(const LiegroupType& type) {
    LiegroupSpace* ptr(new LiegroupSpace(type));
    LiegroupSpacePtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  size_type nq() const { return nq_; }
  size_type nv() const { return nv_; }
  size_type nq(const std::size_t& rank) const;
  size_type nv(const std::size_t& rank) const;
 
  const std::vector<LiegroupType>& liegroupTypes() const {
    return liegroupTypes_;
  }
 
  LiegroupElement neutral() const;
 
  LiegroupElement element(vectorIn_t q) const;
 
  LiegroupElementRef elementRef(vectorOut_t q) const;
 
  LiegroupElementConstRef elementConstRef(vectorIn_t q) const;
 
  LiegroupElement exp(vectorIn_t v) const;
 
  template <DerivativeProduct side>
  void dIntegrate_dq(LiegroupElementConstRef q, vectorIn_t v,
                     matrixOut_t J) const;
 
  template <DerivativeProduct side>
  void dIntegrate_dv(LiegroupElementConstRef q, vectorIn_t v,
                     matrixOut_t Jv) const;
 
  template <bool ApplyOnTheLeft>
  void Jdifference(vectorIn_t q0, vectorIn_t q1, matrixOut_t J0,
                   matrixOut_t J1) const;
 
  template <DerivativeProduct side>
  void dDifference_dq0(vectorIn_t q0, vectorIn_t q1, matrixOut_t J0) const;
 
  template <DerivativeProduct side>
  void dDifference_dq1(vectorIn_t q0, vectorIn_t q1, matrixOut_t J1) const;
 
  void interpolate(vectorIn_t q0, vectorIn_t q1, value_type u,
                   vectorOut_t result) const;
 
  std::string name() const;
 
  void mergeVectorSpaces();
 
  LiegroupSpacePtr_t vectorSpacesMerged() const;
 
  bool isVectorSpace() const;
 
  bool operator==(const LiegroupSpace& other) const;
  bool operator!=(const LiegroupSpace& other) const;
 
  LiegroupSpacePtr_t operator*=(const LiegroupSpaceConstPtr_t& other);
 
 protected:
  LiegroupSpace(const size_type& size);
  LiegroupSpace(const LiegroupSpace& other);
  LiegroupSpace(const LiegroupType& type);
 
 private:
  LiegroupSpace();
  void init(const LiegroupSpaceWkPtr_t weak);
  void computeSize();
  void computeNeutral();
  typedef std::vector<LiegroupType> LiegroupTypes;
  LiegroupTypes liegroupTypes_;
  size_type nq_, nv_;
  vector_t neutral_;
  LiegroupSpaceWkPtr_t weak_;
 
  HPP_SERIALIZABLE();
};  // class LiegroupSpace
inline std::ostream& operator<<(std::ostream& os, const LiegroupSpace& space) {
  os << space.name();
  return os;
}
 
}  // namespace pinocchio
}  // namespace hpp
 
namespace std {
 
hpp::pinocchio::LiegroupSpacePtr_t operator*(
    const hpp::pinocchio::LiegroupSpaceConstPtr_t& sp1,
    const hpp::pinocchio::LiegroupSpaceConstPtr_t& sp2);
hpp::pinocchio::LiegroupSpacePtr_t operator^(
    const hpp::pinocchio::LiegroupSpaceConstPtr_t& sp,
    hpp::pinocchio::size_type n);
}  // namespace std
 
#endif  // HPP_PINOCCHIO_LIEGROUP_SPACE_HH