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// Copyright (c) 2016-2020 CNRS INRIA |
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// |
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#ifndef __pinocchio_multibody_liegroup_liegroup_operation_base_hxx__ |
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#define __pinocchio_multibody_liegroup_liegroup_operation_base_hxx__ |
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#include "pinocchio/macros.hpp" |
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namespace pinocchio { |
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// --------------- API with return value as argument ---------------------- // |
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template <class Derived> |
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template <class ConfigIn_t, class Tangent_t, class ConfigOut_t> |
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void LieGroupBase<Derived> |
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::integrate(const Eigen::MatrixBase<ConfigIn_t> & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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const Eigen::MatrixBase<ConfigOut_t> & qout) const |
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{ |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigIn_t , ConfigVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t , TangentVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigOut_t, ConfigVector_t); |
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derived().integrate_impl(q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(ConfigOut_t,qout)); |
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} |
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template <class Derived> |
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template<class Config_t, class Jacobian_t> |
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void LieGroupBase<Derived>:: |
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integrateCoeffWiseJacobian(const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Jacobian_t> & J) const |
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{ |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t , ConfigVector_t); |
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derived().integrateCoeffWiseJacobian_impl(q.derived(),PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J)); |
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} |
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template <class Derived> |
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template<class Config_t, class Tangent_t, class JacobianOut_t> |
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void LieGroupBase<Derived>::dIntegrate(const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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const Eigen::MatrixBase<JacobianOut_t> & J, |
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const ArgumentPosition arg, |
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const AssignmentOperatorType op) const |
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{ |
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✓✓✗✓
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assert((arg==ARG0||arg==ARG1) && "arg should be either ARG0 or ARG1"); |
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✓✓✗ |
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switch (arg) { |
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case ARG0: |
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dIntegrate_dq(q.derived(),v.derived(), |
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PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J),op); |
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return; |
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case ARG1: |
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dIntegrate_dv(q.derived(),v.derived(), |
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PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J),op); |
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return; |
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default: return; |
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} |
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} |
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template <class Derived> |
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template <class Config_t, class Tangent_t, class JacobianOut_t> |
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void LieGroupBase<Derived>::dIntegrate_dq( |
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const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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const Eigen::MatrixBase<JacobianOut_t> & J, |
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const AssignmentOperatorType op) const |
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{ |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t , ConfigVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t , TangentVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(JacobianOut_t, JacobianMatrix_t); |
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derived().dIntegrate_dq_impl(q.derived(), |
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v.derived(), |
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PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J),op); |
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} |
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template <class Derived> |
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template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t> |
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void LieGroupBase<Derived>::dIntegrate_dq( |
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const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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const Eigen::MatrixBase<JacobianIn_t> & Jin, |
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int self, |
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const Eigen::MatrixBase<JacobianOut_t> & Jout, |
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const AssignmentOperatorType op) const |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(self); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t , ConfigVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t , TangentVector_t); |
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assert(Jin.cols() == nv()); |
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assert(Jout.cols() == nv()); |
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assert(Jout.rows() == Jin.rows()); |
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derived().dIntegrate_product_impl( |
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q.derived(), v.derived(), |
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Jin.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout), |
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false, ARG0, op); |
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} |
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template <class Derived> |
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template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t> |
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void LieGroupBase<Derived>::dIntegrate_dq( |
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const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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int self, |
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const Eigen::MatrixBase<JacobianIn_t> & Jin, |
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const Eigen::MatrixBase<JacobianOut_t> & Jout, |
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const AssignmentOperatorType op) const |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(self); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t , ConfigVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t , TangentVector_t); |
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assert(Jin.rows() == nv()); |
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assert(Jout.rows() == nv()); |
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assert(Jout.cols() == Jin.cols()); |
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derived().dIntegrate_product_impl( |
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q.derived(), v.derived(), |
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Jin.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout), |
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true, ARG0, op); |
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} |
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template <class Derived> |
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template <class Config_t, class Tangent_t, class JacobianOut_t> |
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void LieGroupBase<Derived>::dIntegrate_dv( |
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const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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const Eigen::MatrixBase<JacobianOut_t> & J, |
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const AssignmentOperatorType op) const |
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{ |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t , ConfigVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t , TangentVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(JacobianOut_t, JacobianMatrix_t); |
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derived().dIntegrate_dv_impl(q.derived(), |
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v.derived(), |
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PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J), |
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op); |
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} |
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template <class Derived> |
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template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t> |
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void LieGroupBase<Derived>::dIntegrate_dv( |
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const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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const Eigen::MatrixBase<JacobianIn_t> & Jin, |
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int self, |
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const Eigen::MatrixBase<JacobianOut_t> & Jout, |
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const AssignmentOperatorType op) const |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(self); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t , ConfigVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t , TangentVector_t); |
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assert(Jin.cols() == nv()); |
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assert(Jout.cols() == nv()); |
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assert(Jout.rows() == Jin.rows()); |
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derived().dIntegrate_product_impl( |
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q.derived(), v.derived(), |
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Jin.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout), |
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false, ARG1, op); |
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} |
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template <class Derived> |
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template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t> |
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void LieGroupBase<Derived>::dIntegrate_dv( |
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const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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int self, |
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const Eigen::MatrixBase<JacobianIn_t> & Jin, |
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const Eigen::MatrixBase<JacobianOut_t> & Jout, |
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const AssignmentOperatorType op) const |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(self); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t , ConfigVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t , TangentVector_t); |
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assert(Jin.rows() == nv()); |
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assert(Jout.rows() == nv()); |
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assert(Jout.cols() == Jin.cols()); |
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derived().dIntegrate_product_impl( |
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q.derived(), v.derived(), |
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Jin.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout), |
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true, ARG1, op); |
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} |
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template <class Derived> |
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template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t> |
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void LieGroupBase<Derived>::dIntegrateTransport(const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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const Eigen::MatrixBase<JacobianIn_t> & Jin, |
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const Eigen::MatrixBase<JacobianOut_t> & Jout, |
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const ArgumentPosition arg) const |
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{ |
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✓✓✗✓
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assert((arg==ARG0||arg==ARG1) && "arg should be either ARG0 or ARG1"); |
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✓✓✗ |
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switch (arg) { |
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case ARG0: |
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dIntegrateTransport_dq(q.derived(),v.derived(),Jin.derived(), |
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PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout)); |
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return; |
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case ARG1: |
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dIntegrateTransport_dv(q.derived(),v.derived(),Jin.derived(), |
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PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout)); |
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return; |
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default: |
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return; |
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} |
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} |
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template <class Derived> |
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template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t> |
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void LieGroupBase<Derived>::dIntegrateTransport_dq(const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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const Eigen::MatrixBase<JacobianIn_t> & Jin, |
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const Eigen::MatrixBase<JacobianOut_t> & Jout) const |
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{ |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t , ConfigVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t , TangentVector_t); |
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//EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(JacobianOut_t, JacobianMatrix_t); |
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derived().dIntegrateTransport_dq_impl(q.derived(), |
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v.derived(), |
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Jin.derived(), |
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PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout)); |
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} |
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template <class Derived> |
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template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t> |
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void LieGroupBase<Derived>::dIntegrateTransport_dv(const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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const Eigen::MatrixBase<JacobianIn_t> & Jin, |
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const Eigen::MatrixBase<JacobianOut_t> & Jout) const |
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{ |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t , ConfigVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t , TangentVector_t); |
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//EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(JacobianOut_t, JacobianMatrix_t); |
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derived().dIntegrateTransport_dv_impl(q.derived(), |
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v.derived(), |
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Jin.derived(), |
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PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout)); |
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} |
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template <class Derived> |
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template<class Config_t, class Tangent_t, class Jacobian_t> |
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void LieGroupBase<Derived>::dIntegrateTransport(const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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const Eigen::MatrixBase<Jacobian_t> & J, |
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const ArgumentPosition arg) const |
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{ |
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✓✓✗✓
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assert((arg==ARG0||arg==ARG1) && "arg should be either ARG0 or ARG1"); |
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✓✓✗ |
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switch (arg) { |
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case ARG0: |
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dIntegrateTransport_dq(q.derived(),v.derived(), |
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PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J)); |
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return; |
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case ARG1: |
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dIntegrateTransport_dv(q.derived(),v.derived(), |
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PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J)); |
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return; |
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default: |
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return; |
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} |
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} |
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template <class Derived> |
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template <class Config_t, class Tangent_t, class Jacobian_t> |
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void LieGroupBase<Derived>::dIntegrateTransport_dq( |
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const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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const Eigen::MatrixBase<Jacobian_t> & J) const |
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{ |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t , ConfigVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t , TangentVector_t); |
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//EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(JacobianOut_t, JacobianMatrix_t); |
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derived().dIntegrateTransport_dq_impl(q.derived(), |
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v.derived(), |
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PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J)); |
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} |
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template <class Derived> |
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template <class Config_t, class Tangent_t, class Jacobian_t> |
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void LieGroupBase<Derived>::dIntegrateTransport_dv(const Eigen::MatrixBase<Config_t > & q, |
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const Eigen::MatrixBase<Tangent_t> & v, |
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const Eigen::MatrixBase<Jacobian_t> & J) const |
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{ |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t , ConfigVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t , TangentVector_t); |
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//EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(JacobianOut_t, JacobianMatrix_t); |
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derived().dIntegrateTransport_dv_impl(q.derived(), |
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v.derived(), |
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PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J)); |
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} |
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/** |
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* @brief Interpolation between two joint's configurations |
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* |
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* @param[in] q0 Initial configuration to interpolate |
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* @param[in] q1 Final configuration to interpolate |
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* @param[in] u u in [0;1] position along the interpolation. |
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* |
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* @return The interpolated configuration (q0 if u = 0, q1 if u = 1) |
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*/ |
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template <class Derived> |
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template <class ConfigL_t, class ConfigR_t, class ConfigOut_t> |
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83957 |
void LieGroupBase<Derived>::interpolate( |
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const Eigen::MatrixBase<ConfigL_t> & q0, |
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const Eigen::MatrixBase<ConfigR_t> & q1, |
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const Scalar & u, |
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const Eigen::MatrixBase<ConfigOut_t> & qout) const |
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{ |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigL_t , ConfigVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigR_t , ConfigVector_t); |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigOut_t, ConfigVector_t); |
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✓✗ |
83957 |
Derived().interpolate_impl(q0, q1, u, PINOCCHIO_EIGEN_CONST_CAST(ConfigOut_t,qout)); |
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83957 |
} |
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template <class Derived> |
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template <class Config_t> |
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void LieGroupBase<Derived>::normalize |
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(const Eigen::MatrixBase<Config_t> & qout) const |
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{ |
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EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t, ConfigVector_t); |
321 |
|
28972 |
return derived().normalize_impl(PINOCCHIO_EIGEN_CONST_CAST(Config_t,qout)); |
322 |
|
|
} |
323 |
|
|
|
324 |
|
|
template <class Derived> |
325 |
|
|
template <class Config_t> |
326 |
|
126946 |
bool LieGroupBase<Derived>::isNormalized |
327 |
|
|
(const Eigen::MatrixBase<Config_t> & qin, const Scalar& prec) const |
328 |
|
|
{ |
329 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t, ConfigVector_t); |
330 |
|
126946 |
return derived().isNormalized_impl(qin, prec); |
331 |
|
|
} |
332 |
|
|
|
333 |
|
|
/** |
334 |
|
|
* @brief Generate a random joint configuration, normalizing quaternions when necessary. |
335 |
|
|
* |
336 |
|
|
* \warning Do not take into account the joint limits. To shoot a configuration uniformingly |
337 |
|
|
* depending on joint limits, see randomConfiguration |
338 |
|
|
* |
339 |
|
|
* @return The joint configuration |
340 |
|
|
*/ |
341 |
|
|
template <class Derived> |
342 |
|
|
template <class Config_t> |
343 |
|
4580 |
void LieGroupBase<Derived>::random |
344 |
|
|
(const Eigen::MatrixBase<Config_t> & qout) const |
345 |
|
|
{ |
346 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t, ConfigVector_t); |
347 |
|
4580 |
return derived().random_impl(PINOCCHIO_EIGEN_CONST_CAST(Config_t,qout)); |
348 |
|
|
} |
349 |
|
|
|
350 |
|
|
template <class Derived> |
351 |
|
|
template <class ConfigL_t, class ConfigR_t, class ConfigOut_t> |
352 |
|
127742 |
void LieGroupBase<Derived>::randomConfiguration( |
353 |
|
|
const Eigen::MatrixBase<ConfigL_t> & lower_pos_limit, |
354 |
|
|
const Eigen::MatrixBase<ConfigR_t> & upper_pos_limit, |
355 |
|
|
const Eigen::MatrixBase<ConfigOut_t> & qout) const |
356 |
|
|
{ |
357 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigL_t , ConfigVector_t); |
358 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigR_t , ConfigVector_t); |
359 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigOut_t, ConfigVector_t); |
360 |
|
255484 |
derived ().randomConfiguration_impl(lower_pos_limit.derived(), |
361 |
|
|
upper_pos_limit.derived(), |
362 |
|
127742 |
PINOCCHIO_EIGEN_CONST_CAST(ConfigOut_t,qout)); |
363 |
|
127740 |
} |
364 |
|
|
|
365 |
|
|
template <class Derived> |
366 |
|
|
template <class ConfigL_t, class ConfigR_t, class Tangent_t> |
367 |
|
138763 |
void LieGroupBase<Derived>::difference( |
368 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
369 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
370 |
|
|
const Eigen::MatrixBase<Tangent_t> & d) const |
371 |
|
|
{ |
372 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigL_t, ConfigVector_t); |
373 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigR_t, ConfigVector_t); |
374 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t, TangentVector_t); |
375 |
|
138763 |
derived().difference_impl(q0.derived(), q1.derived(), PINOCCHIO_EIGEN_CONST_CAST(Tangent_t,d)); |
376 |
|
138763 |
} |
377 |
|
|
|
378 |
|
|
template <class Derived> |
379 |
|
|
template <ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianOut_t> |
380 |
|
1988 |
void LieGroupBase<Derived>::dDifference(const Eigen::MatrixBase<ConfigL_t> & q0, |
381 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
382 |
|
|
const Eigen::MatrixBase<JacobianOut_t> & J) const |
383 |
|
|
{ |
384 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigL_t, ConfigVector_t); |
385 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigR_t, ConfigVector_t); |
386 |
|
|
EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(JacobianOut_t, JacobianMatrix_t); |
387 |
|
|
PINOCCHIO_STATIC_ASSERT(arg==ARG0||arg==ARG1, arg_SHOULD_BE_ARG0_OR_ARG1); |
388 |
|
1988 |
derived().template dDifference_impl<arg> (q0.derived(), q1.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J)); |
389 |
|
1988 |
} |
390 |
|
|
|
391 |
|
|
template <class Derived> |
392 |
|
|
template<class ConfigL_t, class ConfigR_t, class JacobianOut_t> |
393 |
|
220 |
void LieGroupBase<Derived>::dDifference(const Eigen::MatrixBase<ConfigL_t> & q0, |
394 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
395 |
|
|
const Eigen::MatrixBase<JacobianOut_t> & J, |
396 |
|
|
const ArgumentPosition arg) const |
397 |
|
|
{ |
398 |
✓✓✗✓
|
220 |
assert((arg==ARG0||arg==ARG1) && "arg should be either ARG0 or ARG1"); |
399 |
|
|
|
400 |
✓✓✗ |
220 |
switch (arg) |
401 |
|
|
{ |
402 |
|
110 |
case ARG0: |
403 |
|
110 |
dDifference<ARG0>(q0.derived(), q1.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J)); |
404 |
|
110 |
return; |
405 |
|
110 |
case ARG1: |
406 |
|
110 |
dDifference<ARG1>(q0.derived(), q1.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J)); |
407 |
|
110 |
return; |
408 |
|
|
default: |
409 |
|
|
return; |
410 |
|
|
} |
411 |
|
|
} |
412 |
|
|
|
413 |
|
|
template <class Derived> |
414 |
|
|
template<ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianIn_t, class JacobianOut_t> |
415 |
|
|
void LieGroupBase<Derived>::dDifference(const Eigen::MatrixBase<ConfigL_t> & q0, |
416 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
417 |
|
|
const Eigen::MatrixBase<JacobianIn_t> & Jin, |
418 |
|
|
int self, |
419 |
|
|
const Eigen::MatrixBase<JacobianOut_t> & Jout, |
420 |
|
|
const AssignmentOperatorType op) const |
421 |
|
|
{ |
422 |
|
|
PINOCCHIO_UNUSED_VARIABLE(self); |
423 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigL_t, ConfigVector_t); |
424 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigR_t, ConfigVector_t); |
425 |
|
|
assert(Jin.cols() == nv()); |
426 |
|
|
assert(Jout.cols() == nv()); |
427 |
|
|
assert(Jout.rows() == Jin.rows()); |
428 |
|
|
derived().template dDifference_product_impl<arg>( |
429 |
|
|
q0.derived(), q1.derived(), |
430 |
|
|
Jin.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout), |
431 |
|
|
false, op); |
432 |
|
|
} |
433 |
|
|
|
434 |
|
|
template <class Derived> |
435 |
|
|
template<ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianIn_t, class JacobianOut_t> |
436 |
|
|
void LieGroupBase<Derived>::dDifference(const Eigen::MatrixBase<ConfigL_t> & q0, |
437 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
438 |
|
|
int self, |
439 |
|
|
const Eigen::MatrixBase<JacobianIn_t> & Jin, |
440 |
|
|
const Eigen::MatrixBase<JacobianOut_t> & Jout, |
441 |
|
|
const AssignmentOperatorType op) const |
442 |
|
|
{ |
443 |
|
|
PINOCCHIO_UNUSED_VARIABLE(self); |
444 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigL_t, ConfigVector_t); |
445 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigR_t, ConfigVector_t); |
446 |
|
|
assert(Jin.rows() == nv()); |
447 |
|
|
assert(Jout.rows() == nv()); |
448 |
|
|
assert(Jout.cols() == Jin.cols()); |
449 |
|
|
derived().template dDifference_product_impl<arg>( |
450 |
|
|
q0.derived(), q1.derived(), |
451 |
|
|
Jin.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout), |
452 |
|
|
true, op); |
453 |
|
|
} |
454 |
|
|
|
455 |
|
|
template <class Derived> |
456 |
|
|
template <class ConfigL_t, class ConfigR_t> |
457 |
|
|
typename LieGroupBase<Derived>::Scalar |
458 |
|
28848 |
LieGroupBase<Derived>::squaredDistance( |
459 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
460 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1) const |
461 |
|
|
{ |
462 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigL_t, ConfigVector_t); |
463 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigR_t, ConfigVector_t); |
464 |
|
28848 |
return derived().squaredDistance_impl(q0.derived(), q1.derived()); |
465 |
|
|
} |
466 |
|
|
|
467 |
|
|
template <class Derived> |
468 |
|
|
template <class ConfigL_t, class ConfigR_t> |
469 |
|
|
typename LieGroupBase<Derived>::Scalar |
470 |
|
28694 |
LieGroupBase<Derived>::distance( |
471 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
472 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1) const |
473 |
|
|
{ |
474 |
|
28694 |
return sqrt(squaredDistance(q0.derived(), q1.derived())); |
475 |
|
|
} |
476 |
|
|
|
477 |
|
|
template <class Derived> |
478 |
|
|
template <class ConfigL_t, class ConfigR_t> |
479 |
|
146 |
bool LieGroupBase<Derived>::isSameConfiguration( |
480 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
481 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
482 |
|
|
const Scalar & prec) const |
483 |
|
|
{ |
484 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigL_t, ConfigVector_t); |
485 |
|
|
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigR_t, ConfigVector_t); |
486 |
|
146 |
return derived().isSameConfiguration_impl(q0.derived(), q1.derived(), prec); |
487 |
|
|
} |
488 |
|
|
|
489 |
|
|
// ----------------- API that allocates memory ---------------------------- // |
490 |
|
|
|
491 |
|
|
|
492 |
|
|
template <class Derived> |
493 |
|
|
template <class Config_t, class Tangent_t> |
494 |
|
|
typename LieGroupBase<Derived>::ConfigVector_t |
495 |
|
89472 |
LieGroupBase<Derived>::integrate(const Eigen::MatrixBase<Config_t> & q, |
496 |
|
|
const Eigen::MatrixBase<Tangent_t> & v) const |
497 |
|
|
{ |
498 |
✓✗ |
89472 |
ConfigVector_t qout(nq()); |
499 |
✗✗ |
89472 |
integrate(q.derived(), v.derived(), qout); |
500 |
|
89472 |
return qout; |
501 |
|
|
} |
502 |
|
|
|
503 |
|
|
template <class Derived> |
504 |
|
|
template <class ConfigL_t, class ConfigR_t> |
505 |
|
83920 |
typename LieGroupBase<Derived>::ConfigVector_t LieGroupBase<Derived>::interpolate( |
506 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
507 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
508 |
|
|
const Scalar & u) const |
509 |
|
|
{ |
510 |
✓✗ |
83920 |
ConfigVector_t qout(nq()); |
511 |
✗✗ |
83920 |
interpolate(q0.derived(), q1.derived(), u, qout); |
512 |
|
83920 |
return qout; |
513 |
|
|
} |
514 |
|
|
|
515 |
|
|
template <class Derived> |
516 |
|
|
typename LieGroupBase<Derived>::ConfigVector_t |
517 |
|
1950 |
LieGroupBase<Derived>::random() const |
518 |
|
|
{ |
519 |
✓✗ |
1950 |
ConfigVector_t qout(nq()); |
520 |
✓✗ |
1950 |
random(qout); |
521 |
|
1950 |
return qout; |
522 |
|
|
} |
523 |
|
|
|
524 |
|
|
template <class Derived> |
525 |
|
|
template <class ConfigL_t, class ConfigR_t> |
526 |
|
|
typename LieGroupBase<Derived>::ConfigVector_t |
527 |
|
86188 |
LieGroupBase<Derived>::randomConfiguration |
528 |
|
|
(const Eigen::MatrixBase<ConfigL_t> & lower_pos_limit, |
529 |
|
|
const Eigen::MatrixBase<ConfigR_t> & upper_pos_limit) const |
530 |
|
|
{ |
531 |
✓✗ |
86188 |
ConfigVector_t qout(nq()); |
532 |
✗✗ |
86188 |
randomConfiguration(lower_pos_limit.derived(), upper_pos_limit.derived(), qout); |
533 |
|
86188 |
return qout; |
534 |
|
|
} |
535 |
|
|
|
536 |
|
|
template <class Derived> |
537 |
|
|
template <class ConfigL_t, class ConfigR_t> |
538 |
|
106501 |
typename LieGroupBase<Derived>::TangentVector_t LieGroupBase<Derived>::difference( |
539 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
540 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1) const |
541 |
|
|
{ |
542 |
✓✗ |
106501 |
TangentVector_t diff(nv()); |
543 |
✗✗ |
106501 |
difference(q0.derived(), q1.derived(), diff); |
544 |
|
106501 |
return diff; |
545 |
|
|
} |
546 |
|
|
|
547 |
|
|
// ----------------- Default implementations ------------------------------ // |
548 |
|
|
template <class Derived> |
549 |
|
|
template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t> |
550 |
|
|
void LieGroupBase<Derived>::dIntegrate_product_impl( |
551 |
|
|
const Config_t & q, |
552 |
|
|
const Tangent_t & v, |
553 |
|
|
const JacobianIn_t & Jin, |
554 |
|
|
JacobianOut_t & Jout, |
555 |
|
|
bool dIntegrateOnTheLeft, |
556 |
|
|
const ArgumentPosition arg, |
557 |
|
|
const AssignmentOperatorType op) const |
558 |
|
|
{ |
559 |
|
|
Index nv_ (nv()); |
560 |
|
|
JacobianMatrix_t J (nv_, nv_); |
561 |
|
|
dIntegrate(q, v, J, arg); |
562 |
|
|
switch (op) { |
563 |
|
|
case SETTO: |
564 |
|
|
if(dIntegrateOnTheLeft) Jout = J * Jin; |
565 |
|
|
else Jout = Jin * J; |
566 |
|
|
return; |
567 |
|
|
case ADDTO: |
568 |
|
|
if(dIntegrateOnTheLeft) Jout += J * Jin; |
569 |
|
|
else Jout += Jin * J; |
570 |
|
|
return; |
571 |
|
|
case RMTO: |
572 |
|
|
if(dIntegrateOnTheLeft) Jout -= J * Jin; |
573 |
|
|
else Jout -= Jin * J; |
574 |
|
|
return; |
575 |
|
|
} |
576 |
|
|
} |
577 |
|
|
|
578 |
|
|
template <class Derived> |
579 |
|
|
template <ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianIn_t, class JacobianOut_t> |
580 |
|
|
void LieGroupBase<Derived>::dDifference_product_impl(const ConfigL_t & q0, |
581 |
|
|
const ConfigR_t & q1, |
582 |
|
|
const JacobianIn_t & Jin, |
583 |
|
|
JacobianOut_t & Jout, |
584 |
|
|
bool dDifferenceOnTheLeft, |
585 |
|
|
const AssignmentOperatorType op) const |
586 |
|
|
{ |
587 |
|
|
Index nv_ (nv()); |
588 |
|
|
JacobianMatrix_t J (nv_, nv_); |
589 |
|
|
dDifference<arg>(q0, q1, J); |
590 |
|
|
switch (op) { |
591 |
|
|
case SETTO: |
592 |
|
|
if(dDifferenceOnTheLeft) Jout = J * Jin; |
593 |
|
|
else Jout = Jin * J; |
594 |
|
|
return; |
595 |
|
|
case ADDTO: |
596 |
|
|
if(dDifferenceOnTheLeft) Jout += J * Jin; |
597 |
|
|
else Jout += Jin * J; |
598 |
|
|
return; |
599 |
|
|
case RMTO: |
600 |
|
|
if(dDifferenceOnTheLeft) Jout -= J * Jin; |
601 |
|
|
else Jout -= Jin * J; |
602 |
|
|
return; |
603 |
|
|
} |
604 |
|
|
} |
605 |
|
|
|
606 |
|
|
template <class Derived> |
607 |
|
|
template <class ConfigL_t, class ConfigR_t, class ConfigOut_t> |
608 |
|
59473 |
void LieGroupBase<Derived>::interpolate_impl( |
609 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
610 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
611 |
|
|
const Scalar & u, |
612 |
|
|
const Eigen::MatrixBase<ConfigOut_t> & qout) const |
613 |
|
|
{ |
614 |
✓✓ |
59473 |
if (u == 0) PINOCCHIO_EIGEN_CONST_CAST(ConfigOut_t,qout) = q0; |
615 |
✓✓ |
38977 |
else if(u == 1) PINOCCHIO_EIGEN_CONST_CAST(ConfigOut_t,qout) = q1; |
616 |
|
|
else |
617 |
|
|
{ |
618 |
✓✗✓✗
✓✗ |
18481 |
TangentVector_t vdiff(u * difference(q0, q1)); |
619 |
✓✗ |
18481 |
integrate(q0.derived(), vdiff, PINOCCHIO_EIGEN_CONST_CAST(ConfigOut_t,qout)); |
620 |
|
|
} |
621 |
|
59473 |
} |
622 |
|
|
|
623 |
|
|
template <class Derived> |
624 |
|
|
template <class ConfigL_t, class ConfigR_t> |
625 |
|
|
typename LieGroupBase<Derived>::Scalar |
626 |
|
24682 |
LieGroupBase<Derived>::squaredDistance_impl( |
627 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
628 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1) const |
629 |
|
|
{ |
630 |
✓✓✗✓
✗ |
24682 |
TangentVector_t t(nv()); |
631 |
✓✗ |
24682 |
difference(q0.derived(), q1.derived(), t); |
632 |
✓✗ |
24694 |
return t.squaredNorm(); |
633 |
|
|
} |
634 |
|
|
|
635 |
|
|
template <class Derived> |
636 |
|
|
template <class ConfigL_t, class ConfigR_t> |
637 |
|
74 |
bool LieGroupBase<Derived>::isSameConfiguration_impl( |
638 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
639 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
640 |
|
|
const Scalar & prec) const |
641 |
|
|
{ |
642 |
|
74 |
return q0.isApprox(q1, prec); |
643 |
|
|
} |
644 |
|
|
|
645 |
|
|
template <class Derived> |
646 |
|
|
typename LieGroupBase <Derived>::Index |
647 |
|
262109 |
LieGroupBase <Derived>::nq () const |
648 |
|
|
{ |
649 |
|
262109 |
return derived().nq(); |
650 |
|
|
} |
651 |
|
|
|
652 |
|
|
template <class Derived> |
653 |
|
|
typename LieGroupBase <Derived>::Index |
654 |
|
131666 |
LieGroupBase <Derived>::nv () const |
655 |
|
|
{ |
656 |
|
131666 |
return derived().nv(); |
657 |
|
|
} |
658 |
|
|
|
659 |
|
|
template <class Derived> |
660 |
|
|
typename LieGroupBase <Derived>::ConfigVector_t |
661 |
|
90 |
LieGroupBase <Derived>::neutral () const |
662 |
|
|
{ |
663 |
|
90 |
return derived().neutral(); |
664 |
|
|
} |
665 |
|
|
|
666 |
|
|
template <class Derived> |
667 |
|
37 |
std::string LieGroupBase <Derived>::name () const |
668 |
|
|
{ |
669 |
|
37 |
return derived().name(); |
670 |
|
|
} |
671 |
|
|
|
672 |
|
|
} // namespace pinocchio |
673 |
|
|
|
674 |
|
|
#endif // __pinocchio_multibody_liegroup_liegroup_operation_base_hxx__ |