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// |
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// Copyright (c) 2015-2019 CNRS INRIA |
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// Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
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// |
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#ifndef __pinocchio_joint_prismatic_unaligned_hpp__ |
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#define __pinocchio_joint_prismatic_unaligned_hpp__ |
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#include "pinocchio/macros.hpp" |
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#include "pinocchio/multibody/joint/joint-base.hpp" |
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#include "pinocchio/multibody/joint/joint-translation.hpp" |
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#include "pinocchio/multibody/constraint.hpp" |
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#include "pinocchio/spatial/inertia.hpp" |
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#include "pinocchio/math/matrix.hpp" |
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namespace pinocchio |
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{ |
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template<typename Scalar, int Options=0> struct MotionPrismaticUnalignedTpl; |
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typedef MotionPrismaticUnalignedTpl<double> MotionPrismaticUnaligned; |
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template<typename Scalar, int Options> |
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struct SE3GroupAction< MotionPrismaticUnalignedTpl<Scalar,Options> > |
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{ |
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typedef MotionTpl<Scalar,Options> ReturnType; |
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}; |
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template<typename Scalar, int Options, typename MotionDerived> |
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struct MotionAlgebraAction< MotionPrismaticUnalignedTpl<Scalar,Options>, MotionDerived> |
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{ |
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typedef MotionTpl<Scalar,Options> ReturnType; |
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}; |
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template<typename _Scalar, int _Options> |
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struct traits< MotionPrismaticUnalignedTpl<_Scalar,_Options> > |
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{ |
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typedef _Scalar Scalar; |
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enum { Options = _Options }; |
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typedef Eigen::Matrix<Scalar,3,1,Options> Vector3; |
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typedef Eigen::Matrix<Scalar,6,1,Options> Vector6; |
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typedef Eigen::Matrix<Scalar,4,4,Options> Matrix4; |
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typedef Eigen::Matrix<Scalar,6,6,Options> Matrix6; |
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typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6) ToVectorConstReturnType; |
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typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6) ToVectorReturnType; |
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typedef Vector3 AngularType; |
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typedef Vector3 LinearType; |
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typedef const Vector3 ConstAngularType; |
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typedef const Vector3 ConstLinearType; |
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typedef Matrix6 ActionMatrixType; |
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typedef Matrix4 HomogeneousMatrixType; |
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typedef MotionTpl<Scalar,Options> MotionPlain; |
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typedef MotionPlain PlainReturnType; |
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enum { |
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LINEAR = 0, |
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ANGULAR = 3 |
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}; |
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}; // traits MotionPrismaticUnalignedTpl |
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template<typename _Scalar, int _Options> |
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struct MotionPrismaticUnalignedTpl |
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: MotionBase < MotionPrismaticUnalignedTpl<_Scalar,_Options> > |
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{ |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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MOTION_TYPEDEF_TPL(MotionPrismaticUnalignedTpl); |
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MotionPrismaticUnalignedTpl() {} |
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template<typename Vector3Like, typename S2> |
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MotionPrismaticUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis, |
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const S2 & v) |
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: m_axis(axis), m_v(v) |
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{ EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like,3); } |
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inline PlainReturnType plain() const |
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{ |
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return PlainReturnType(m_axis*m_v, |
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✓✗✓✗ |
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PlainReturnType::Vector3::Zero()); |
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} |
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template<typename OtherScalar> |
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MotionPrismaticUnalignedTpl __mult__(const OtherScalar & alpha) const |
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{ |
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✓✗ | 2 |
return MotionPrismaticUnalignedTpl(m_axis,alpha*m_v); |
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} |
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template<typename Derived> |
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void addTo(MotionDense<Derived> & other) const |
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{ |
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✓✗✓✗ |
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other.linear() += m_axis * m_v; |
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} |
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template<typename Derived> |
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void setTo(MotionDense<Derived> & other) const |
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{ |
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✓✗✓✗ ✓✗ |
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other.linear().noalias() = m_axis*m_v; |
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✓✗ | 35 |
other.angular().setZero(); |
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} |
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template<typename S2, int O2, typename D2> |
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void se3Action_impl(const SE3Tpl<S2,O2> & m, MotionDense<D2> & v) const |
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{ |
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✓✗✓✗ ✓✗✓✗ |
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v.linear().noalias() = m_v * (m.rotation() * m_axis); // TODO: check efficiency |
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✓✗ | 1 |
v.angular().setZero(); |
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} |
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template<typename S2, int O2> |
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MotionPlain se3Action_impl(const SE3Tpl<S2,O2> & m) const |
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{ |
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MotionPlain res; |
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se3Action_impl(m,res); |
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return res; |
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} |
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template<typename S2, int O2, typename D2> |
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void se3ActionInverse_impl(const SE3Tpl<S2,O2> & m, MotionDense<D2> & v) const |
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{ |
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// Linear |
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✓✗✓✗ ✓✗✓✗ ✓✗ |
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v.linear().noalias() = m_v * (m.rotation().transpose() * m_axis); |
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// Angular |
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✓✗ | 1 |
v.angular().setZero(); |
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} |
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template<typename S2, int O2> |
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MotionPlain se3ActionInverse_impl(const SE3Tpl<S2,O2> & m) const |
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{ |
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MotionPlain res; |
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se3ActionInverse_impl(m,res); |
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return res; |
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} |
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template<typename M1, typename M2> |
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void motionAction(const MotionDense<M1> & v, MotionDense<M2> & mout) const |
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{ |
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// Linear |
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✓✗✓✗ ✓✗✓✗ |
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mout.linear().noalias() = v.angular().cross(m_axis); |
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✓✗ | 4 |
mout.linear() *= m_v; |
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// Angular |
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✓✗ | 4 |
mout.angular().setZero(); |
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} |
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template<typename M1> |
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MotionPlain motionAction(const MotionDense<M1> & v) const |
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{ |
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MotionPlain res; |
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motionAction(v,res); |
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return res; |
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} |
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bool isEqual_impl(const MotionPrismaticUnalignedTpl & other) const |
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{ |
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✓✗✓✗ |
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return m_axis == other.m_axis && m_v == other.m_v; |
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} |
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const Scalar & linearRate() const { return m_v; } |
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Scalar & linearRate() { return m_v; } |
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const Vector3 & axis() const { return m_axis; } |
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Vector3 & axis() { return m_axis; } |
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protected: |
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Vector3 m_axis; |
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Scalar m_v; |
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}; // struct MotionPrismaticUnalignedTpl |
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template<typename Scalar, int Options, typename MotionDerived> |
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inline typename MotionDerived::MotionPlain |
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operator+(const MotionPrismaticUnalignedTpl<Scalar,Options> & m1, const MotionDense<MotionDerived> & m2) |
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{ |
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typedef typename MotionDerived::MotionPlain ReturnType; |
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return ReturnType(m1.linearRate() * m1.axis() + m2.linear(), m2.angular()); |
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} |
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template<typename MotionDerived, typename S2, int O2> |
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inline typename MotionDerived::MotionPlain |
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3 |
operator^(const MotionDense<MotionDerived> & m1, |
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const MotionPrismaticUnalignedTpl<S2,O2> & m2) |
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{ |
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return m2.motionAction(m1); |
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} |
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template<typename Scalar, int Options> struct ConstraintPrismaticUnalignedTpl; |
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template<typename _Scalar, int _Options> |
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struct traits< ConstraintPrismaticUnalignedTpl<_Scalar,_Options> > |
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{ |
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typedef _Scalar Scalar; |
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enum { Options = _Options }; |
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enum { |
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LINEAR = 0, |
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ANGULAR = 3 |
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}; |
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typedef MotionPrismaticUnalignedTpl<Scalar,Options> JointMotion; |
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typedef Eigen::Matrix<Scalar,1,1,Options> JointForce; |
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typedef Eigen::Matrix<Scalar,6,1,Options> DenseBase; |
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typedef DenseBase MatrixReturnType; |
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typedef const DenseBase ConstMatrixReturnType; |
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typedef Eigen::Matrix<Scalar,3,1,Options> Vector3; |
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}; // traits ConstraintPrismaticUnalignedTpl |
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template<typename Scalar, int Options> |
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struct SE3GroupAction< ConstraintPrismaticUnalignedTpl<Scalar,Options> > |
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{ typedef Eigen::Matrix<Scalar,6,1,Options> ReturnType; }; |
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template<typename Scalar, int Options, typename MotionDerived> |
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struct MotionAlgebraAction< ConstraintPrismaticUnalignedTpl<Scalar,Options>,MotionDerived > |
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{ typedef Eigen::Matrix<Scalar,6,1,Options> ReturnType; }; |
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template<typename Scalar, int Options, typename ForceDerived> |
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struct ConstraintForceOp< ConstraintPrismaticUnalignedTpl<Scalar,Options>, ForceDerived> |
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{ |
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typedef typename traits< ConstraintPrismaticUnalignedTpl<Scalar,Options> >::Vector3 Vector3; |
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typedef Eigen::Matrix<typename PINOCCHIO_EIGEN_DOT_PRODUCT_RETURN_TYPE(Vector3,typename ForceDense<ForceDerived>::ConstAngularType),1,1,Options> ReturnType; |
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}; |
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template<typename Scalar, int Options, typename ForceSet> |
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struct ConstraintForceSetOp< ConstraintPrismaticUnalignedTpl<Scalar,Options>, ForceSet> |
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{ |
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typedef typename traits< ConstraintPrismaticUnalignedTpl<Scalar,Options> >::Vector3 Vector3; |
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typedef typename MatrixMatrixProduct<Eigen::Transpose<const Vector3>, |
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typename Eigen::MatrixBase<const ForceSet>::template NRowsBlockXpr<3>::Type |
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>::type ReturnType; |
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}; |
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template<typename _Scalar, int _Options> |
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struct ConstraintPrismaticUnalignedTpl |
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: ConstraintBase< ConstraintPrismaticUnalignedTpl<_Scalar,_Options> > |
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{ |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(ConstraintPrismaticUnalignedTpl) |
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enum { NV = 1 }; |
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typedef typename traits<ConstraintPrismaticUnalignedTpl>::Vector3 Vector3; |
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7 |
ConstraintPrismaticUnalignedTpl() {} |
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template<typename Vector3Like> |
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ConstraintPrismaticUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis) |
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: m_axis(axis) |
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{ EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like,3); } |
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template<typename Vector1Like> |
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7 |
JointMotion __mult__(const Eigen::MatrixBase<Vector1Like> & v) const |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector1Like,1); |
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✓✗ | 9 |
return JointMotion(m_axis,v[0]); |
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} |
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template<typename S1, int O1> |
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typename SE3GroupAction<ConstraintPrismaticUnalignedTpl>::ReturnType |
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7 |
se3Action(const SE3Tpl<S1,O1> & m) const |
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{ |
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✓✗ | 7 |
typename SE3GroupAction<ConstraintPrismaticUnalignedTpl>::ReturnType res; |
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✓✗ | 7 |
MotionRef<DenseBase> v(res); |
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✓✗✓✗ ✓✗✓✗ ✓✗ |
7 |
v.linear().noalias() = m.rotation()*m_axis; |
260 |
✓✗✓✗ |
7 |
v.angular().setZero(); |
261 |
14 |
return res; |
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} |
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template<typename S1, int O1> |
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typename SE3GroupAction<ConstraintPrismaticUnalignedTpl>::ReturnType |
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3 |
se3ActionInverse(const SE3Tpl<S1,O1> & m) const |
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{ |
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✓✗ | 3 |
typename SE3GroupAction<ConstraintPrismaticUnalignedTpl>::ReturnType res; |
269 |
✓✗ | 3 |
MotionRef<DenseBase> v(res); |
270 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
3 |
v.linear().noalias() = m.rotation().transpose()*m_axis; |
271 |
✓✗✓✗ |
3 |
v.angular().setZero(); |
272 |
6 |
return res; |
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} |
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274 |
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275 |
19 |
int nv_impl() const { return NV; } |
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276 |
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struct TransposeConst |
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{ |
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const ConstraintPrismaticUnalignedTpl & ref; |
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280 |
10 |
TransposeConst(const ConstraintPrismaticUnalignedTpl & ref) : ref(ref) {} |
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281 |
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template<typename ForceDerived> |
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typename ConstraintForceOp<ConstraintPrismaticUnalignedTpl,ForceDerived>::ReturnType |
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284 |
6 |
operator* (const ForceDense<ForceDerived> & f) const |
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285 |
{ |
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typedef typename ConstraintForceOp<ConstraintPrismaticUnalignedTpl,ForceDerived>::ReturnType ReturnType; |
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287 |
6 |
ReturnType res; |
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✓✗✓✗ |
6 |
res[0] = ref.axis().dot(f.linear()); |
289 |
6 |
return res; |
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} |
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291 |
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/* [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */ |
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template<typename ForceSet> |
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typename ConstraintForceSetOp<ConstraintPrismaticUnalignedTpl,ForceSet>::ReturnType |
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295 |
4 |
operator*(const Eigen::MatrixBase<ForceSet> & F) |
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296 |
{ |
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297 |
EIGEN_STATIC_ASSERT(ForceSet::RowsAtCompileTime==6,THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE) |
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298 |
/* Return ax.T * F[1:3,:] */ |
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299 |
✓✗✓✗ |
8 |
return ref.axis().transpose() * F.template middleRows<3>(LINEAR); |
300 |
} |
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301 |
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302 |
}; |
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303 |
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304 |
10 |
TransposeConst transpose() const { return TransposeConst(*this); } |
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305 |
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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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311 |
*/ |
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312 |
27 |
DenseBase matrix_impl() const |
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313 |
{ |
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314 |
27 |
DenseBase S; |
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315 |
✓✗ | 27 |
S.template segment<3>(LINEAR) = m_axis; |
316 |
✓✗ | 27 |
S.template segment<3>(ANGULAR).setZero(); |
317 |
27 |
return S; |
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318 |
} |
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319 |
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320 |
template<typename MotionDerived> |
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321 |
4 |
DenseBase motionAction(const MotionDense<MotionDerived> & v) const |
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322 |
{ |
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323 |
4 |
DenseBase res; |
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324 |
✓✗✓✗ ✓✗✓✗ |
4 |
res.template segment<3>(LINEAR).noalias() = v.angular().cross(m_axis); |
325 |
✓✗ | 4 |
res.template segment<3>(ANGULAR).setZero(); |
326 |
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327 |
4 |
return res; |
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328 |
} |
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329 |
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330 |
17 |
const Vector3 & axis() const { return m_axis; } |
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331 |
28 |
Vector3 & axis() { return m_axis; } |
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332 |
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333 |
17 |
bool isEqual(const ConstraintPrismaticUnalignedTpl & other) const |
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334 |
{ |
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335 |
17 |
return m_axis == other.m_axis; |
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336 |
} |
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337 |
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338 |
protected: |
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339 |
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340 |
Vector3 m_axis; |
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341 |
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342 |
}; // struct ConstraintPrismaticUnalignedTpl |
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343 |
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344 |
template<typename S1, int O1,typename S2, int O2> |
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345 |
struct MultiplicationOp<InertiaTpl<S1,O1>, ConstraintPrismaticUnalignedTpl<S2,O2> > |
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346 |
{ |
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347 |
typedef Eigen::Matrix<S2,6,1,O2> ReturnType; |
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348 |
}; |
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349 |
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350 |
/* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */ |
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351 |
namespace impl |
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352 |
{ |
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353 |
template<typename S1, int O1, typename S2, int O2> |
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354 |
struct LhsMultiplicationOp<InertiaTpl<S1,O1>, ConstraintPrismaticUnalignedTpl<S2,O2> > |
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355 |
{ |
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356 |
typedef InertiaTpl<S1,O1> Inertia; |
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357 |
typedef ConstraintPrismaticUnalignedTpl<S2,O2> Constraint; |
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358 |
typedef typename MultiplicationOp<Inertia,Constraint>::ReturnType ReturnType; |
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359 |
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360 |
5 |
static inline ReturnType run(const Inertia & Y, |
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361 |
const Constraint & cpu) |
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362 |
{ |
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363 |
5 |
ReturnType res; |
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364 |
/* YS = [ m -mcx ; mcx I-mcxcx ] [ 0 ; w ] = [ mcxw ; Iw -mcxcxw ] */ |
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365 |
5 |
const S1 & m = Y.mass(); |
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366 |
5 |
const typename Inertia::Vector3 & c = Y.lever(); |
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367 |
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368 |
✓✗✓✗ ✓✗ |
5 |
res.template segment<3>(Constraint::LINEAR).noalias() = m*cpu.axis(); |
369 |
✓✗✓✗ ✓✗✓✗ |
5 |
res.template segment<3>(Constraint::ANGULAR).noalias() = c.cross(res.template segment<3>(Constraint::LINEAR)); |
370 |
|||
371 |
5 |
return res; |
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372 |
} |
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373 |
}; |
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374 |
} // namespace impl |
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375 |
|||
376 |
template<typename M6Like, typename Scalar, int Options> |
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377 |
struct MultiplicationOp<Eigen::MatrixBase<M6Like>, ConstraintPrismaticUnalignedTpl<Scalar,Options> > |
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378 |
{ |
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379 |
typedef typename SizeDepType<3>::ColsReturn<M6Like>::ConstType M6LikeCols; |
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380 |
typedef typename Eigen::internal::remove_const<M6LikeCols>::type M6LikeColsNonConst; |
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381 |
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382 |
typedef ConstraintPrismaticUnalignedTpl<Scalar,Options> Constraint; |
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383 |
typedef typename Constraint::Vector3 Vector3; |
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384 |
typedef const typename MatrixMatrixProduct<M6LikeColsNonConst,Vector3>::type ReturnType; |
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385 |
}; |
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386 |
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387 |
/* [ABA] operator* (Inertia Y,Constraint S) */ |
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388 |
namespace impl |
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389 |
{ |
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390 |
template<typename M6Like, typename Scalar, int Options> |
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391 |
struct LhsMultiplicationOp<Eigen::MatrixBase<M6Like>, ConstraintPrismaticUnalignedTpl<Scalar,Options> > |
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392 |
{ |
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393 |
typedef ConstraintPrismaticUnalignedTpl<Scalar,Options> Constraint; |
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394 |
typedef typename MultiplicationOp<Eigen::MatrixBase<M6Like>,Constraint>::ReturnType ReturnType; |
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395 |
2 |
static inline ReturnType run(const Eigen::MatrixBase<M6Like> & Y, |
|
396 |
const Constraint & cru) |
||
397 |
{ |
||
398 |
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(M6Like,6,6); |
||
399 |
✓✗ | 2 |
return Y.derived().template middleCols<3>(Constraint::LINEAR) * cru.axis(); |
400 |
} |
||
401 |
}; |
||
402 |
} // namespace impl |
||
403 |
|||
404 |
template<typename Scalar, int Options> struct JointPrismaticUnalignedTpl; |
||
405 |
|||
406 |
template<typename _Scalar, int _Options> |
||
407 |
struct traits< JointPrismaticUnalignedTpl<_Scalar,_Options> > |
||
408 |
{ |
||
409 |
enum { |
||
410 |
NQ = 1, |
||
411 |
NV = 1 |
||
412 |
}; |
||
413 |
typedef _Scalar Scalar; |
||
414 |
enum { Options = _Options }; |
||
415 |
typedef JointDataPrismaticUnalignedTpl<Scalar,Options> JointDataDerived; |
||
416 |
typedef JointModelPrismaticUnalignedTpl<Scalar,Options> JointModelDerived; |
||
417 |
typedef ConstraintPrismaticUnalignedTpl<Scalar,Options> Constraint_t; |
||
418 |
typedef TransformTranslationTpl<Scalar,Options> Transformation_t; |
||
419 |
typedef MotionPrismaticUnalignedTpl<Scalar,Options> Motion_t; |
||
420 |
typedef MotionZeroTpl<Scalar,Options> Bias_t; |
||
421 |
|||
422 |
// [ABA] |
||
423 |
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t; |
||
424 |
typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t; |
||
425 |
typedef Eigen::Matrix<Scalar,6,NV,Options> UD_t; |
||
426 |
|||
427 |
PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE |
||
428 |
|||
429 |
typedef Eigen::Matrix<Scalar,NQ,1,Options> ConfigVector_t; |
||
430 |
typedef Eigen::Matrix<Scalar,NV,1,Options> TangentVector_t; |
||
431 |
}; |
||
432 |
|||
433 |
template<typename Scalar, int Options> |
||
434 |
struct traits< JointDataPrismaticUnalignedTpl<Scalar,Options> > |
||
435 |
{ typedef JointPrismaticUnalignedTpl<Scalar,Options> JointDerived; }; |
||
436 |
|||
437 |
template<typename _Scalar, int _Options> |
||
438 |
struct JointDataPrismaticUnalignedTpl |
||
439 |
: public JointDataBase< JointDataPrismaticUnalignedTpl<_Scalar,_Options> > |
||
440 |
{ |
||
441 |
44 |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
|
442 |
typedef JointPrismaticUnalignedTpl<_Scalar,_Options> JointDerived; |
||
443 |
PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived); |
||
444 |
666 |
PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR |
|
445 |
|||
446 |
Transformation_t M; |
||
447 |
Constraint_t S; |
||
448 |
Motion_t v; |
||
449 |
Bias_t c; |
||
450 |
|||
451 |
// [ABA] specific data |
||
452 |
U_t U; |
||
453 |
D_t Dinv; |
||
454 |
UD_t UDinv; |
||
455 |
|||
456 |
26 |
JointDataPrismaticUnalignedTpl() |
|
457 |
: M(Transformation_t::Vector3::Zero()) |
||
458 |
, S(Constraint_t::Vector3::Zero()) |
||
459 |
, v(Constraint_t::Vector3::Zero(),(Scalar)0) |
||
460 |
, U(U_t::Zero()) |
||
461 |
, Dinv(D_t::Zero()) |
||
462 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
26 |
, UDinv(UD_t::Zero()) |
463 |
26 |
{} |
|
464 |
|||
465 |
template<typename Vector3Like> |
||
466 |
99 |
JointDataPrismaticUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis) |
|
467 |
: M() |
||
468 |
, S(axis) |
||
469 |
198 |
, v(axis,(Scalar)NAN) |
|
470 |
✓✗ | 99 |
, U(), Dinv(), UDinv() |
471 |
99 |
{} |
|
472 |
|||
473 |
✓✗ | 44 |
static std::string classname() { return std::string("JointDataPrismaticUnaligned"); } |
474 |
3 |
std::string shortname() const { return classname(); } |
|
475 |
|||
476 |
}; // struct JointDataPrismaticUnalignedTpl |
||
477 |
|||
478 |
template<typename Scalar, int Options> |
||
479 |
struct traits< JointModelPrismaticUnalignedTpl<Scalar,Options> > |
||
480 |
{ typedef JointPrismaticUnalignedTpl<Scalar,Options> JointDerived; }; |
||
481 |
|||
482 |
PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelPrismaticUnalignedTpl); |
||
483 |
template<typename _Scalar, int _Options> |
||
484 |
struct JointModelPrismaticUnalignedTpl |
||
485 |
: public JointModelBase< JointModelPrismaticUnalignedTpl<_Scalar,_Options> > |
||
486 |
{ |
||
487 |
154 |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
|
488 |
typedef JointPrismaticUnalignedTpl<_Scalar,_Options> JointDerived; |
||
489 |
PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived); |
||
490 |
|||
491 |
typedef JointModelBase<JointModelPrismaticUnalignedTpl> Base; |
||
492 |
using Base::id; |
||
493 |
using Base::idx_q; |
||
494 |
using Base::idx_v; |
||
495 |
using Base::setIndexes; |
||
496 |
|||
497 |
typedef Eigen::Matrix<Scalar,3,1,_Options> Vector3; |
||
498 |
|||
499 |
64 |
JointModelPrismaticUnalignedTpl() {} |
|
500 |
24 |
JointModelPrismaticUnalignedTpl(const Scalar & x, |
|
501 |
const Scalar & y, |
||
502 |
const Scalar & z) |
||
503 |
24 |
: axis(x,y,z) |
|
504 |
{ |
||
505 |
24 |
axis.normalize(); |
|
506 |
✓✗✓✗ |
24 |
assert(isUnitary(axis) && "Translation axis is not unitary"); |
507 |
24 |
} |
|
508 |
|||
509 |
template<typename Vector3Like> |
||
510 |
41 |
JointModelPrismaticUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis) |
|
511 |
41 |
: axis(axis) |
|
512 |
{ |
||
513 |
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Vector3Like); |
||
514 |
✓✗✓✗ |
41 |
assert(isUnitary(axis) && "Translation axis is not unitary"); |
515 |
41 |
} |
|
516 |
|||
517 |
99 |
JointDataDerived createData() const { return JointDataDerived(axis); } |
|
518 |
|||
519 |
const std::vector<bool> hasConfigurationLimit() const |
||
520 |
{ |
||
521 |
return {true}; |
||
522 |
} |
||
523 |
|||
524 |
const std::vector<bool> hasConfigurationLimitInTangent() const |
||
525 |
{ |
||
526 |
return {true}; |
||
527 |
} |
||
528 |
|||
529 |
using Base::isEqual; |
||
530 |
15 |
bool isEqual(const JointModelPrismaticUnalignedTpl & other) const |
|
531 |
{ |
||
532 |
✓✓✓✗ |
15 |
return Base::isEqual(other) && axis == other.axis; |
533 |
} |
||
534 |
|||
535 |
template<typename ConfigVector> |
||
536 |
150 |
void calc(JointDataDerived & data, |
|
537 |
const typename Eigen::MatrixBase<ConfigVector> & qs) const |
||
538 |
{ |
||
539 |
typedef typename ConfigVector::Scalar Scalar; |
||
540 |
150 |
const Scalar & q = qs[idx_q()]; |
|
541 |
|||
542 |
✓✗✓✗ |
150 |
data.M.translation().noalias() = axis * q; |
543 |
150 |
} |
|
544 |
|||
545 |
template<typename ConfigVector, typename TangentVector> |
||
546 |
35 |
void calc(JointDataDerived & data, |
|
547 |
const typename Eigen::MatrixBase<ConfigVector> & qs, |
||
548 |
const typename Eigen::MatrixBase<TangentVector> & vs) const |
||
549 |
{ |
||
550 |
35 |
calc(data,qs.derived()); |
|
551 |
|||
552 |
typedef typename TangentVector::Scalar S2; |
||
553 |
35 |
const S2 & v = vs[idx_v()]; |
|
554 |
35 |
data.v.linearRate() = v; |
|
555 |
35 |
} |
|
556 |
|||
557 |
template<typename Matrix6Like> |
||
558 |
8 |
void calc_aba(JointDataDerived & data, const Eigen::MatrixBase<Matrix6Like> & I, const bool update_I) const |
|
559 |
{ |
||
560 |
✓✗✓✗ ✓✗ |
8 |
data.U.noalias() = I.template block<6,3> (0,Inertia::LINEAR) * axis; |
561 |
✓✗✓✗ |
8 |
data.Dinv[0] = Scalar(1)/axis.dot(data.U.template segment <3> (Inertia::LINEAR)); |
562 |
✓✗✓✗ |
8 |
data.UDinv.noalias() = data.U * data.Dinv; |
563 |
|||
564 |
✓✓ | 8 |
if (update_I) |
565 |
✓✗✓✗ |
2 |
PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like,I) -= data.UDinv * data.U.transpose(); |
566 |
8 |
} |
|
567 |
|||
568 |
✓✗ | 428 |
static std::string classname() { return std::string("JointModelPrismaticUnaligned"); } |
569 |
386 |
std::string shortname() const { return classname(); } |
|
570 |
|||
571 |
/// \returns An expression of *this with the Scalar type casted to NewScalar. |
||
572 |
template<typename NewScalar> |
||
573 |
4 |
JointModelPrismaticUnalignedTpl<NewScalar,Options> cast() const |
|
574 |
{ |
||
575 |
typedef JointModelPrismaticUnalignedTpl<NewScalar,Options> ReturnType; |
||
576 |
4 |
ReturnType res(axis.template cast<NewScalar>()); |
|
577 |
4 |
res.setIndexes(id(),idx_q(),idx_v()); |
|
578 |
4 |
return res; |
|
579 |
} |
||
580 |
|||
581 |
// data |
||
582 |
|||
583 |
/// |
||
584 |
/// \brief 3d main axis of the joint. |
||
585 |
/// |
||
586 |
Vector3 axis; |
||
587 |
}; // struct JointModelPrismaticUnalignedTpl |
||
588 |
|||
589 |
} //namespace pinocchio |
||
590 |
|||
591 |
#include <boost/type_traits.hpp> |
||
592 |
|||
593 |
namespace boost |
||
594 |
{ |
||
595 |
template<typename Scalar, int Options> |
||
596 |
struct has_nothrow_constructor< ::pinocchio::JointModelPrismaticUnalignedTpl<Scalar,Options> > |
||
597 |
: public integral_constant<bool,true> {}; |
||
598 |
|||
599 |
template<typename Scalar, int Options> |
||
600 |
struct has_nothrow_copy< ::pinocchio::JointModelPrismaticUnalignedTpl<Scalar,Options> > |
||
601 |
: public integral_constant<bool,true> {}; |
||
602 |
|||
603 |
template<typename Scalar, int Options> |
||
604 |
struct has_nothrow_constructor< ::pinocchio::JointDataPrismaticUnalignedTpl<Scalar,Options> > |
||
605 |
: public integral_constant<bool,true> {}; |
||
606 |
|||
607 |
template<typename Scalar, int Options> |
||
608 |
struct has_nothrow_copy< ::pinocchio::JointDataPrismaticUnalignedTpl<Scalar,Options> > |
||
609 |
: public integral_constant<bool,true> {}; |
||
610 |
} |
||
611 |
|||
612 |
|||
613 |
#endif // ifndef __pinocchio_joint_prismatic_unaligned_hpp__ |
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