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// Copyright (c) 2015 CNRS |
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// |
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#ifndef __pinocchio_spatial_force_set_hpp__ |
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#define __pinocchio_spatial_force_set_hpp__ |
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#include "pinocchio/spatial/fwd.hpp" |
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#include <Eigen/Geometry> |
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namespace pinocchio |
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{ |
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template<typename _Scalar, int _Options> |
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class ForceSetTpl |
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{ |
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public: |
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typedef _Scalar Scalar; |
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enum |
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{ |
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Options = _Options |
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}; |
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typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3; |
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typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3; |
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typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6; |
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typedef Eigen::Matrix<Scalar, 6, 6, Options> Matrix6; |
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typedef SE3Tpl<Scalar, Options> SE3; |
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typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic, Options> Matrix3x; |
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typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> Matrix6x; |
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public: |
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// Constructors |
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ForceSetTpl(const int & ncols) |
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: size(ncols) |
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, m_f(3, ncols) |
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, m_n(3, ncols) |
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{ |
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m_f.fill(NAN); |
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m_n.fill(NAN); |
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} |
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ForceSetTpl(const Matrix3x & linear, const Matrix3x & angular) |
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: size((int)linear.cols()) |
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, m_f(linear) |
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, m_n(angular) |
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{ |
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assert(linear.cols() == angular.cols()); |
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} |
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Matrix6x matrix() const |
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{ |
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Matrix6x F(6, size); |
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F << m_f, m_n; |
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// F.template topRows<3>() = m_f; |
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// F.template bottomRows<3>() = m_n; |
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return F; |
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} |
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operator Matrix6x() const |
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{ |
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return matrix(); |
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} |
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// Getters |
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const Matrix3x & linear() const |
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{ |
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return m_f; |
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} |
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const Matrix3x & angular() const |
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{ |
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return m_n; |
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} |
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/// af = aXb.act(bf) |
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ForceSetTpl se3Action(const SE3 & m) const |
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{ |
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Matrix3x Rf(m.rotation() * linear()); |
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return ForceSetTpl(Rf, skew(m.translation()) * Rf + m.rotation() * angular()); |
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// TODO check if nothing better than explicitely calling skew |
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} |
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/// bf = aXb.actInv(af) |
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ForceSetTpl se3ActionInverse(const SE3 & m) const |
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{ |
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return ForceSetTpl( |
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m.rotation().transpose() * linear(), |
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m.rotation().transpose() * (angular() - skew(m.translation()) * linear())); |
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// TODO check if nothing better than explicitely calling skew |
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} |
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friend std::ostream & operator<<(std::ostream & os, const ForceSetTpl & phi) |
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{ |
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os << "F =\n" << phi.linear() << std::endl << "Tau =\n" << phi.angular() << std::endl; |
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return os; |
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} |
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/* --- BLOCK ------------------------------------------------------------ */ |
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struct Block |
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{ |
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ForceSetTpl & ref; |
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int idx, len; |
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Block(ForceSetTpl & ref, const int & idx, const int & len) |
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: ref(ref) |
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, idx(idx) |
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, len(len) |
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{ |
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} |
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Eigen::Block<ForceSetTpl::Matrix3x> linear() |
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{ |
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return ref.m_f.block(0, idx, 3, len); |
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} |
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Eigen::Block<ForceSetTpl::Matrix3x> angular() |
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{ |
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return ref.m_n.block(0, idx, 3, len); |
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} |
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Eigen::Block<const ForceSetTpl::Matrix3x> linear() const |
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{ |
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return ((const ForceSetTpl::Matrix3x &)(ref.m_f)).block(0, idx, 3, len); |
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} |
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Eigen::Block<const ForceSetTpl::Matrix3x> angular() const |
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{ |
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return ((const ForceSetTpl::Matrix3x &)(ref.m_n)).block(0, idx, 3, len); |
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} |
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ForceSetTpl::Matrix6x matrix() const |
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{ |
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ForceSetTpl::Matrix6x res(6, len); |
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res << linear(), angular(); |
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return res; |
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} |
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Block & operator=(const ForceSetTpl & copy) |
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{ |
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assert(copy.size == len); |
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linear() = copy.linear(); // ref.m_f.block(0,idx,3,len) = copy.m_f; |
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angular() = copy.angular(); // ref.m_n.block(0,idx,3,len) = copy.m_n; |
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return *this; |
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} |
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Block & operator=(const ForceSetTpl::Block & copy) |
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{ |
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assert(copy.len == len); |
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linear() = |
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copy.linear(); // ref.m_f.block(0,idx,3,len) = copy.ref.m_f.block(0,copy.idx,3,copy.len); |
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angular() = |
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copy.angular(); // ref.m_n.block(0,idx,3,len) = copy.ref.m_n.block(0,copy.idx,3,copy.len); |
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return *this; |
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} |
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template<typename D> |
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Block & operator=(const Eigen::MatrixBase<D> & m) |
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{ |
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eigen_assert(D::RowsAtCompileTime == 6); |
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assert(m.cols() == len); |
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linear() = m.template topRows<3>(); |
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angular() = m.template bottomRows<3>(); |
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return *this; |
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} |
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/// af = aXb.act(bf) |
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ForceSetTpl se3Action(const SE3 & m) const |
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{ |
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// const Eigen::Block<const Matrix3x> linear = ref.linear().block(0,idx,3,len); |
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// const Eigen::Block<const Matrix3x> angular = ref.angular().block(0,idx,3,len); |
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Matrix3x Rf((m.rotation() * linear())); |
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return ForceSetTpl(Rf, skew(m.translation()) * Rf + m.rotation() * angular()); |
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// TODO check if nothing better than explicitely calling skew |
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} |
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/// bf = aXb.actInv(af) |
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ForceSetTpl se3ActionInverse(const SE3 & m) const |
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{ |
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// const Eigen::Block<const Matrix3x> linear = ref.linear().block(0,idx,3,len); |
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// const Eigen::Block<const Matrix3x> angular = ref.angular().block(0,idx,3,len); |
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return ForceSetTpl( |
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m.rotation().transpose() * linear(), |
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m.rotation().transpose() * (angular() - skew(m.translation()) * linear())); |
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// TODO check if nothing better than explicitely calling skew |
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} |
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}; |
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Block block(const int & idx, const int & len) |
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{ |
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return Block(*this, idx, len); |
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} |
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/* CRBA joint operators |
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* - ForceSet::Block = ForceSet |
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* - ForceSet operator* (Inertia Y,Constraint S) |
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* - MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) |
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* - SE3::act(ForceSet::Block) |
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*/ |
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public: // |
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private: |
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int size; |
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Matrix3x m_f, m_n; |
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}; |
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typedef ForceSetTpl<context::Scalar, context::Options> ForceSet; |
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template<> |
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struct SE3GroupAction<ForceSet::Block> |
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{ |
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typedef ForceSet ReturnType; |
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}; |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_spatial_force_set_hpp__ |
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