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// Copyright (c) 2015-2021 CNRS INRIA |
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// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
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// |
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#ifndef __pinocchio_python_explog_hpp__ |
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#define __pinocchio_python_explog_hpp__ |
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#include "pinocchio/spatial/explog.hpp" |
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namespace pinocchio |
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{ |
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namespace python |
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{ |
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template<typename Vector3Like> |
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Eigen:: |
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Matrix<typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> |
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exp3_proxy(const Vector3Like & v) |
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{ |
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return exp3(v); |
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} |
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template<typename Vector3Like> |
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Eigen:: |
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Matrix<typename Vector3Like::Scalar, 4, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> |
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exp3_proxy_quat(const Vector3Like & v) |
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{ |
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typedef typename Vector3Like::Scalar Scalar; |
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typedef Eigen::Quaternion<Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> |
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Quaternion_t; |
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typedef Eigen::Map<Quaternion_t> QuaternionMap_t; |
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typedef Eigen::Matrix<Scalar, 4, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> |
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ReturnType; |
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ReturnType res; |
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QuaternionMap_t quat_out(res.derived().data()); |
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quaternion::exp3(v, quat_out); |
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return res; |
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} |
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template<typename Vector3Like> |
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Eigen:: |
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Matrix<typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> |
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Jexp3_proxy(const Vector3Like & v) |
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{ |
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typedef Eigen::Matrix< |
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typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> |
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ReturnType; |
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ReturnType res; |
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Jexp3(v, res); |
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return res; |
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} |
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template<typename Matrix3Like> |
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typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like) Jlog3_proxy(const Matrix3Like & M) |
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{ |
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typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like) ReturnType; |
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ReturnType res; |
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Jlog3(M, res); |
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return res; |
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} |
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template<typename Matrix3Like, typename Vector3Like> |
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typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like) |
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Hlog3_proxy(const Matrix3Like & M, const Vector3Like & v) |
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{ |
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typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like) ReturnType; |
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ReturnType res; |
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Hlog3(M, v, res); |
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return res; |
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} |
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template<typename Scalar, int Options> |
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SE3Tpl<Scalar, Options> exp6_proxy(const MotionTpl<Scalar, Options> & v) |
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{ |
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return exp6(v); |
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} |
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template<typename Vector6Like> |
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SE3Tpl<typename Vector6Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options> |
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exp6_proxy(const Vector6Like & vec6) |
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{ |
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return exp6(vec6); |
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} |
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template<typename Vector6Like> |
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Eigen:: |
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Matrix<typename Vector6Like::Scalar, 7, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options> |
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exp6_proxy_quatvec(const Vector6Like & vec6) |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector6Like, 6); |
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return quaternion::exp6(vec6); // use quaternion-exp6 overload |
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} |
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template<typename Scalar, int Options> |
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typename SE3Tpl<Scalar, Options>::Matrix6 Jlog6_proxy(const SE3Tpl<Scalar, Options> & M) |
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{ |
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typedef typename SE3Tpl<Scalar, Options>::Matrix6 ReturnType; |
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ReturnType res; |
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Jlog6(M, res); |
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return res; |
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} |
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template<typename Scalar, int Options> |
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typename MotionTpl<Scalar, Options>::Matrix6 Jexp6_proxy(const MotionTpl<Scalar, Options> & v) |
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{ |
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typedef typename MotionTpl<Scalar, Options>::Matrix6 ReturnType; |
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ReturnType res; |
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Jexp6(v, res); |
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return res; |
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} |
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template<typename Vector6Like> |
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Eigen:: |
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Matrix<typename Vector6Like::Scalar, 6, 6, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options> |
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Jexp6_proxy(const Vector6Like & vec6) |
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{ |
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typedef MotionRef<const Vector6Like> Motion; |
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Motion v(vec6); |
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typedef typename Motion::Matrix6 ReturnType; |
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ReturnType res; |
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Jexp6(v, res); |
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return res; |
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} |
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template<typename Matrix3Like> |
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Eigen:: |
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Matrix<typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options> |
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log3_proxy(const Matrix3Like & R) |
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{ |
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return log3(R); |
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} |
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template<typename Matrix3Like, typename Matrix1Like> |
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Eigen:: |
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Matrix<typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options> |
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log3_proxy(const Matrix3Like & R, Eigen::Ref<Matrix1Like> theta) |
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{ |
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return log3(R, theta.coeffRef(0, 0)); |
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} |
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template<typename Matrix3Like, typename Scalar> |
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Eigen:: |
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Matrix<typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options> |
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log3_proxy_fix(const Matrix3Like & R, Scalar & theta) |
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{ |
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return log3(R, theta); |
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} |
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template<typename QuaternionLike> |
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Eigen::Matrix< |
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typename QuaternionLike::Scalar, |
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3, |
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1, |
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PINOCCHIO_EIGEN_PLAIN_TYPE(typename QuaternionLike::Vector3)::Options> |
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log3_proxy(const QuaternionLike & quat) |
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{ |
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return quaternion::log3(quat); |
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} |
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template<typename Vector4Like> |
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Eigen:: |
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Matrix<typename Vector4Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector4Like)::Options> |
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log3_proxy_quatvec(const Vector4Like & v) |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector4Like, 4); |
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typedef typename Vector4Like::Scalar Scalar; |
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typedef Eigen::Quaternion<Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector4Like)::Options> |
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Quaternion_t; |
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typedef Eigen::Map<const Quaternion_t> ConstQuaternionMap_t; |
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ConstQuaternionMap_t q(v.derived().data()); |
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assert(quaternion::isNormalized( |
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q, typename Vector4Like::RealScalar(PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE))); |
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return quaternion::log3(q); |
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} |
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template<typename Vector4Like, typename Matrix1Like> |
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Eigen:: |
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Matrix<typename Vector4Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector4Like)::Options> |
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log3_proxy_quatvec(const Vector4Like & v, Eigen::Ref<Matrix1Like> theta) |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector4Like, 4); |
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typedef typename Vector4Like::Scalar Scalar; |
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typedef Eigen::Quaternion<Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector4Like)::Options> |
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Quaternion_t; |
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typedef Eigen::Map<const Quaternion_t> ConstQuaternionMap_t; |
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ConstQuaternionMap_t q(v.derived().data()); |
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assert(quaternion::isNormalized( |
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q, typename Vector4Like::RealScalar(PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE))); |
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return quaternion::log3(q, theta.coeffRef(0, 0)); |
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} |
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template<typename Vector4Like, typename _Scalar> |
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Eigen:: |
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Matrix<typename Vector4Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector4Like)::Options> |
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log3_proxy_quatvec_fix(const Vector4Like & v, _Scalar & theta) |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector4Like, 4); |
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typedef typename Vector4Like::Scalar Scalar; |
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typedef Eigen::Quaternion<Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector4Like)::Options> |
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Quaternion_t; |
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typedef Eigen::Map<const Quaternion_t> ConstQuaternionMap_t; |
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ConstQuaternionMap_t q(v.derived().data()); |
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assert(quaternion::isNormalized( |
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q, typename Vector4Like::RealScalar(PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE))); |
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return quaternion::log3(q, theta); |
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} |
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template<typename Matrix4Like> |
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MotionTpl<typename Matrix4Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix4Like)::Options> |
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log6_proxy(const Matrix4Like & homegenous_matrix) |
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{ |
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return log6(homegenous_matrix); |
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} |
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template<typename Vector7Like> |
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MotionTpl<typename Vector7Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector7Like)::Options> |
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log6_proxy_quatvec(const Vector7Like & q) |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector7Like, 7); |
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typedef typename Vector7Like::Scalar Scalar; |
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enum |
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Options = PINOCCHIO_EIGEN_PLAIN_TYPE(Vector7Like)::Options |
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}; |
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typedef Eigen::Quaternion<Scalar, Options> Quaternion; |
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typedef Eigen::Map<const Quaternion, Options> ConstQuaternionMap; |
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typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3; |
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const Vector3 v(q.derived().template head<3>()); |
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ConstQuaternionMap quat(q.derived().template tail<4>().data()); |
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return log6(quat, v); |
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} |
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} // namespace python |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_python_explog_hpp__ |
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