hpp-pinocchio 6.0.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
Loading...
Searching...
No Matches
liegroup.hh
Go to the documentation of this file.
1// Copyright (c) 2017, Joseph Mirabel
2// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
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_HH
30#define HPP_PINOCCHIO_LIEGROUP_HH
31
37#include <pinocchio/multibody/joint/joints.hpp>
38
39namespace hpp {
40namespace pinocchio {
41
49 template <typename JointModel>
50 struct operation {};
51};
52
60 template <typename JointModel>
61 struct operation {};
62};
63
65//---------------- RnxSOnLieGroupMap -------------------------------//
66// JointModelRevolute, JointModelRevoluteUnbounded, JointModelRevoluteUnaligned,
67// JointModelRevoluteUnboundedUnaligned
68template <typename Scalar, int Options, int Axis>
70 ::pinocchio::JointModelRevoluteTpl<Scalar, Options, Axis> > {
72};
73template <typename Scalar, int Options, int Axis>
74struct RnxSOnLieGroupMap::operation<
75 ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar, Options, Axis> > {
76 typedef liegroup::SpecialOrthogonalOperation<2> type;
77};
78template <typename Scalar, int Options>
79struct RnxSOnLieGroupMap::operation<
80 ::pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> > {
81 typedef liegroup::VectorSpaceOperation<1, true> type;
82};
83template <typename Scalar, int Options>
84struct RnxSOnLieGroupMap::operation<
85 ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> > {
86 typedef liegroup::SpecialOrthogonalOperation<2> type;
87};
88
89// JointModelPrismaticTpl, JointModelPrismaticUnaligned, JointModelTranslation
90template <typename Scalar, int Options, int Axis>
91struct RnxSOnLieGroupMap::operation<
92 ::pinocchio::JointModelPrismaticTpl<Scalar, Options, Axis> > {
93 typedef liegroup::VectorSpaceOperation<1, false> type;
94};
95template <typename Scalar, int Options>
96struct RnxSOnLieGroupMap::operation<
97 ::pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> > {
98 typedef liegroup::VectorSpaceOperation<1, false> type;
99};
100template <typename Scalar, int Options>
101struct RnxSOnLieGroupMap::operation<
102 ::pinocchio::JointModelTranslationTpl<Scalar, Options> > {
103 typedef liegroup::VectorSpaceOperation<3, false> type;
104};
105
106// JointModelSpherical, JointModelSphericalZYX,
107template <typename Scalar, int Options>
108struct RnxSOnLieGroupMap::operation<
109 ::pinocchio::JointModelSphericalTpl<Scalar, Options> > {
110 typedef liegroup::SpecialOrthogonalOperation<3> type;
111};
112template <typename Scalar, int Options>
113struct RnxSOnLieGroupMap::operation<
114 ::pinocchio::JointModelSphericalZYXTpl<Scalar, Options> > {
115 typedef liegroup::VectorSpaceOperation<3, true> type;
116};
117
118// JointModelFreeFlyer, JointModelPlanar
119template <typename Scalar, int Options>
120struct RnxSOnLieGroupMap::operation<
121 ::pinocchio::JointModelFreeFlyerTpl<Scalar, Options> > {
122 typedef liegroup::CartesianProductOperation<
123 liegroup::VectorSpaceOperation<3, false>,
124 liegroup::SpecialOrthogonalOperation<3> >
125 type;
126};
127template <typename Scalar, int Options>
128struct RnxSOnLieGroupMap::operation<
129 ::pinocchio::JointModelPlanarTpl<Scalar, Options> > {
130 typedef liegroup::CartesianProductOperation<
131 liegroup::VectorSpaceOperation<2, false>,
132 liegroup::SpecialOrthogonalOperation<2> >
133 type;
134};
135
136//---------------- DefaultLieGroupMap ------------------------------------//
137
138// JointModelRevolute, JointModelRevoluteUnbounded, JointModelRevoluteUnaligned,
139// JointModelRevoluteUnboundedUnaligned
140template <typename Scalar, int Options, int Axis>
141struct DefaultLieGroupMap::operation<
142 ::pinocchio::JointModelRevoluteTpl<Scalar, Options, Axis> > {
143 typedef liegroup::VectorSpaceOperation<1, true> type;
144};
145template <typename Scalar, int Options, int Axis>
146struct DefaultLieGroupMap::operation<
147 ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar, Options, Axis> > {
148 typedef liegroup::SpecialOrthogonalOperation<2> type;
149};
150template <typename Scalar, int Options>
151struct DefaultLieGroupMap::operation<
152 ::pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> > {
153 typedef liegroup::VectorSpaceOperation<1, true> type;
154};
155template <typename Scalar, int Options>
156struct DefaultLieGroupMap::operation<
157 ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> > {
158 typedef liegroup::SpecialOrthogonalOperation<2> type;
159};
160
161// JointModelPrismaticTpl, JointModelPrismaticUnaligned, JointModelTranslation
162template <typename Scalar, int Options, int Axis>
163struct DefaultLieGroupMap::operation<
164 ::pinocchio::JointModelPrismaticTpl<Scalar, Options, Axis> > {
165 typedef liegroup::VectorSpaceOperation<1, false> type;
166};
167template <typename Scalar, int Options>
168struct DefaultLieGroupMap::operation<
169 ::pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> > {
170 typedef liegroup::VectorSpaceOperation<1, false> type;
171};
172template <typename Scalar, int Options>
173struct DefaultLieGroupMap::operation<
174 ::pinocchio::JointModelTranslationTpl<Scalar, Options> > {
175 typedef liegroup::VectorSpaceOperation<3, false> type;
176};
177
178// JointModelSpherical, JointModelSphericalZYX,
179template <typename Scalar, int Options>
180struct DefaultLieGroupMap::operation<
181 ::pinocchio::JointModelSphericalTpl<Scalar, Options> > {
182 typedef liegroup::SpecialOrthogonalOperation<3> type;
183};
184template <typename Scalar, int Options>
185struct DefaultLieGroupMap::operation<
186 ::pinocchio::JointModelSphericalZYXTpl<Scalar, Options> > {
187 typedef liegroup::VectorSpaceOperation<3, true> type;
188};
189
190// JointModelFreeFlyer, JointModelPlanar
191template <typename Scalar, int Options>
192struct DefaultLieGroupMap::operation<
193 ::pinocchio::JointModelFreeFlyerTpl<Scalar, Options> > {
194 typedef liegroup::SpecialEuclideanOperation<3> type;
195};
196template <typename Scalar, int Options>
197struct DefaultLieGroupMap::operation<
198 ::pinocchio::JointModelPlanarTpl<Scalar, Options> > {
199 typedef liegroup::SpecialEuclideanOperation<2> type;
200};
201
203} // namespace pinocchio
204} // namespace hpp
205
206#endif // HPP_PINOCCHIO_LIEGROUP_HH
Utility functions.
Definition body.hh:39
Definition collision-object.hh:40
Definition liegroup.hh:59
Definition liegroup.hh:48