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// |
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// Copyright (c) 2020 INRIA |
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// |
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#ifndef __pinocchio_algorithm_utils_force_hpp__ |
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#define __pinocchio_algorithm_utils_force_hpp__ |
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#include "pinocchio/spatial/se3.hpp" |
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#include "pinocchio/spatial/force.hpp" |
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#include "pinocchio/multibody/fwd.hpp" |
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namespace pinocchio |
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{ |
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/// |
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/// @copydoc changeReferenceFrame(const SE3Tpl<Scalar,Options> &,const ForceDense<MotionIn> |
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/// &,const ReferenceFrame,const ReferenceFrame) \param[out] f_out Resulting force quantity. |
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/// |
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template<typename Scalar, int Options, typename ForceIn, typename ForceOut> |
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void changeReferenceFrame( |
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const SE3Tpl<Scalar, Options> & placement, |
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const ForceDense<ForceIn> & f_in, |
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const ReferenceFrame rf_in, |
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const ReferenceFrame rf_out, |
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ForceDense<ForceOut> & f_out) |
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{ |
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if (rf_in == rf_out) |
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{ |
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f_out = f_in; |
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return; |
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} |
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// case: LOCAL/WORLD and WORLD/LOCAL |
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if (rf_in == LOCAL && rf_out == WORLD) |
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{ |
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f_out = placement.act(f_in); |
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return; |
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} |
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if (rf_in == WORLD && rf_out == LOCAL) |
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{ |
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f_out = placement.actInv(f_in); |
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return; |
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} |
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// case: LOCAL/LOCAL_WORLD_ALIGNED and LOCAL_WORLD_ALIGNED/LOCAL |
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if (rf_in == LOCAL && rf_out == LOCAL_WORLD_ALIGNED) |
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{ |
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f_out.angular().noalias() = placement.rotation() * f_in.angular(); |
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f_out.linear().noalias() = placement.rotation() * f_in.linear(); |
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return; |
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} |
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if (rf_in == LOCAL_WORLD_ALIGNED && rf_out == LOCAL) |
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{ |
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f_out.angular().noalias() = placement.rotation().transpose() * f_in.angular(); |
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f_out.linear().noalias() = placement.rotation().transpose() * f_in.linear(); |
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return; |
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} |
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// case: WORLD/LOCAL_WORLD_ALIGNED and LOCAL_WORLD_ALIGNED/WORLD |
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if (rf_in == WORLD && rf_out == LOCAL_WORLD_ALIGNED) |
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{ |
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f_out.linear() = f_in.linear(); |
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f_out.angular().noalias() = f_in.angular() + f_in.linear().cross(placement.translation()); |
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return; |
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} |
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if (rf_in == LOCAL_WORLD_ALIGNED && rf_out == WORLD) |
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{ |
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f_out.linear() = f_in.linear(); |
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f_out.angular().noalias() = f_in.angular() - f_in.linear().cross(placement.translation()); |
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return; |
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} |
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assert(false && "This must never happened."); |
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} |
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/// |
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/// \brief Change the expression of a given Force vector from one reference frame to another |
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/// reference frame. |
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/// |
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/// \example If ones has an initial f_in Force expressed locally (rf_in=LOCAL) in a Frame |
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/// localized at a given placement value, ones may want to retrieve its value inside |
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/// another reference frame e.g. the world (rf_out=WORLD). |
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/// |
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/// \param[in] placement Placement of the frame having force f_in |
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/// \param[in] f_in Input force quantity. |
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/// \param[in] rf_in Reference frame in which m_in is expressed |
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/// \param[in] rf_out Reference frame in which the result m_out is expressed |
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/// \param[out] f_out Resulting force quantity. |
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/// |
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template<typename Scalar, int Options, typename ForceIn> |
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typename ForceIn::ForcePlain changeReferenceFrame( |
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const SE3Tpl<Scalar, Options> & placement, |
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const ForceDense<ForceIn> & f_in, |
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const ReferenceFrame rf_in, |
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const ReferenceFrame rf_out) |
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{ |
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typedef typename ForceIn::ForcePlain ReturnType; |
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ReturnType res; |
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changeReferenceFrame(placement, f_in, rf_in, rf_out, res); |
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return res; |
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} |
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} // namespace pinocchio |
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#endif // #ifndef __pinocchio_algorithm_utils_force_hpp__ |
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