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#include <iostream> |
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#include "pinocchio/multibody/liegroup/liegroup.hpp" |
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using namespace pinocchio; |
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int main() |
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{ |
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typedef double Scalar; |
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enum {Options = 0}; |
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typedef SpecialEuclideanOperationTpl<2,Scalar,Options> SE2Operation; |
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SE2Operation aSE2; |
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SE2Operation::ConfigVector_t pose_s,pose_g; |
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SE2Operation::TangentVector_t delta_u; |
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delta_u.setZero(); |
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// Starting configuration |
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pose_s(0) = 1.0; pose_s(1) = 1.0; |
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pose_s(2) = cos(M_PI/4.0); pose_s(3) = sin(M_PI/4.0); |
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// Goal configuration |
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pose_g(0) = 3.0; pose_g(1) = -1.0; |
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pose_g(2) = cos(-M_PI/2.0); pose_g(3) = sin(-M_PI/2.0); |
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// Computes the differences (expressed in the tangent space of the configuration space) between |
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// the starting and the goal configuration |
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aSE2.difference(pose_s,pose_g,delta_u); |
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std::cout << "difference: " << delta_u.transpose() << std::endl; |
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// Check that the composition of the starting configuration and the difference vector gives the goal configuration |
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SE2Operation::ConfigVector_t pose_check; |
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aSE2.integrate(pose_s,delta_u,pose_check); |
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std::cout << "goal configuration (from composition): " << pose_check.transpose() << std::endl; |
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std::cout << "goal configuration: " << pose_g.transpose() << std::endl; |
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} |
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