1 |
|
|
// |
2 |
|
|
// Copyright (c) 2015-2019 CNRS, INRIA |
3 |
|
|
// Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
4 |
|
|
// |
5 |
|
|
|
6 |
|
|
#ifndef __pinocchio_multibody_constraint_base_hpp__ |
7 |
|
|
#define __pinocchio_multibody_constraint_base_hpp__ |
8 |
|
|
|
9 |
|
|
#include "pinocchio/macros.hpp" |
10 |
|
|
#include "pinocchio/spatial/fwd.hpp" |
11 |
|
|
#include "pinocchio/spatial/motion.hpp" |
12 |
|
|
#include "pinocchio/spatial/act-on-set.hpp" |
13 |
|
|
|
14 |
|
|
// S : v \in M^6 -> v_J \in lie(Q) ~= R^nv |
15 |
|
|
// S^T : f_J \in lie(Q)^* ~= R^nv -> f \in F^6 |
16 |
|
|
|
17 |
|
|
#define PINOCCHIO_CONSTRAINT_TYPEDEF_GENERIC(DERIVED,TYPENAME) \ |
18 |
|
|
typedef TYPENAME traits<DERIVED>::Scalar Scalar; \ |
19 |
|
|
typedef TYPENAME traits<DERIVED>::JointMotion JointMotion; \ |
20 |
|
|
typedef TYPENAME traits<DERIVED>::JointForce JointForce; \ |
21 |
|
|
typedef TYPENAME traits<DERIVED>::DenseBase DenseBase; \ |
22 |
|
|
typedef TYPENAME traits<DERIVED>::MatrixReturnType MatrixReturnType; \ |
23 |
|
|
typedef TYPENAME traits<DERIVED>::ConstMatrixReturnType ConstMatrixReturnType; \ |
24 |
|
|
enum { LINEAR = traits<DERIVED>::LINEAR, ANGULAR = traits<DERIVED>::ANGULAR }; \ |
25 |
|
|
enum { Options = traits<DERIVED>::Options }; |
26 |
|
|
|
27 |
|
|
#define PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(DERIVED) PINOCCHIO_CONSTRAINT_TYPEDEF_GENERIC(DERIVED,typename) |
28 |
|
|
#define PINOCCHIO_CONSTRAINT_TYPEDEF(DERIVED) PINOCCHIO_CONSTRAINT_TYPEDEF_GENERIC(DERIVED,PINOCCHIO_EMPTY_ARG) |
29 |
|
|
|
30 |
|
|
namespace pinocchio |
31 |
|
|
{ |
32 |
|
|
|
33 |
|
|
/// \brief Return type of the Constraint::Transpose * Force operation |
34 |
|
|
template<class ConstraintDerived, typename Force> |
35 |
|
|
struct ConstraintForceOp |
36 |
|
|
{ |
37 |
|
|
typedef ReturnTypeNotDefined ReturnType; |
38 |
|
|
}; |
39 |
|
|
|
40 |
|
|
/// \brief Return type of the Constraint::Transpose * ForceSet operation |
41 |
|
|
template<class ConstraintDerived, typename ForceSet> |
42 |
|
|
struct ConstraintForceSetOp |
43 |
|
|
{ |
44 |
|
|
typedef ReturnTypeNotDefined ReturnType; |
45 |
|
|
}; |
46 |
|
|
|
47 |
|
|
template<class Derived> |
48 |
|
|
class ConstraintBase |
49 |
|
|
{ |
50 |
|
|
protected: |
51 |
|
|
PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(Derived) |
52 |
|
|
|
53 |
|
|
public: |
54 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
55 |
|
|
|
56 |
|
1062 |
Derived & derived() { return *static_cast<Derived*>(this); } |
57 |
|
36766 |
const Derived & derived() const { return *static_cast<const Derived*>(this); } |
58 |
|
|
|
59 |
|
|
template<typename VectorLike> |
60 |
|
63308 |
JointMotion operator*(const Eigen::MatrixBase<VectorLike> & vj) const |
61 |
|
63308 |
{ return derived().__mult__(vj); } |
62 |
|
|
|
63 |
|
1062 |
MatrixReturnType matrix() { return derived().matrix_impl(); } |
64 |
|
1017 |
ConstMatrixReturnType matrix() const { return derived().matrix_impl(); } |
65 |
|
|
|
66 |
|
990 |
int nv() const { return derived().nv_impl(); } |
67 |
|
|
|
68 |
|
42 |
static int rows() { return 6; } |
69 |
|
21 |
int cols() const { return nv(); } |
70 |
|
|
|
71 |
|
|
template<class OtherDerived> |
72 |
|
|
bool isApprox(const ConstraintBase<OtherDerived> & other, |
73 |
|
|
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const |
74 |
|
|
{ return matrix().isApprox(other.matrix(),prec); } |
75 |
|
|
|
76 |
|
|
void disp(std::ostream & os) const { derived().disp_impl(os); } |
77 |
|
|
friend std::ostream & operator << (std::ostream & os,const ConstraintBase<Derived> & X) |
78 |
|
|
{ |
79 |
|
|
X.disp(os); |
80 |
|
|
return os; |
81 |
|
|
} |
82 |
|
|
|
83 |
|
|
typename SE3GroupAction<Derived>::ReturnType |
84 |
|
|
se3Action(const SE3Tpl<Scalar,Options> & m) const |
85 |
|
|
{ |
86 |
|
|
return derived().se3Action(m); |
87 |
|
|
} |
88 |
|
|
|
89 |
|
|
typename SE3GroupAction<Derived>::ReturnType |
90 |
|
|
se3ActionInverse(const SE3Tpl<Scalar,Options> & m) const |
91 |
|
|
{ |
92 |
|
|
return derived().se3ActionInverse(m); |
93 |
|
|
} |
94 |
|
|
|
95 |
|
|
template<typename MotionDerived> |
96 |
|
|
typename MotionAlgebraAction<Derived,MotionDerived>::ReturnType |
97 |
|
|
motionAction(const MotionDense<MotionDerived> & v) const |
98 |
|
|
{ |
99 |
|
|
return derived().motionAction(v); |
100 |
|
|
} |
101 |
|
|
|
102 |
|
1246 |
bool operator==(const ConstraintBase<Derived> & other) const |
103 |
|
|
{ |
104 |
|
1246 |
return derived().isEqual(other.derived()); |
105 |
|
|
} |
106 |
|
|
|
107 |
|
|
}; // class ConstraintBase |
108 |
|
|
|
109 |
|
|
/// \brief Operation Y * S used in the CRBA algorithm for instance |
110 |
|
|
template<typename Scalar, int Options, typename ConstraintDerived> |
111 |
|
|
typename MultiplicationOp<InertiaTpl<Scalar,Options>,ConstraintDerived>::ReturnType |
112 |
|
1109 |
operator*(const InertiaTpl<Scalar,Options> & Y, |
113 |
|
|
const ConstraintBase<ConstraintDerived> & constraint) |
114 |
|
|
{ |
115 |
|
1109 |
return impl::LhsMultiplicationOp<InertiaTpl<Scalar,Options>,ConstraintDerived>::run(Y, |
116 |
|
1109 |
constraint.derived()); |
117 |
|
|
} |
118 |
|
|
|
119 |
|
|
/// \brief Operation Y_matrix * S used in the ABA algorithm for instance |
120 |
|
|
template<typename MatrixDerived, typename ConstraintDerived> |
121 |
|
|
typename MultiplicationOp<Eigen::MatrixBase<MatrixDerived>,ConstraintDerived>::ReturnType |
122 |
|
36 |
operator*(const Eigen::MatrixBase<MatrixDerived> & Y, |
123 |
|
|
const ConstraintBase<ConstraintDerived> & constraint) |
124 |
|
|
{ |
125 |
|
36 |
return impl::LhsMultiplicationOp<Eigen::MatrixBase<MatrixDerived>,ConstraintDerived>::run(Y.derived(), |
126 |
|
36 |
constraint.derived()); |
127 |
|
|
} |
128 |
|
|
|
129 |
|
|
} // namespace pinocchio |
130 |
|
|
|
131 |
|
|
#endif // ifndef __pinocchio_multibody_constraint_base_hpp__ |