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// Copyright (c) 2018 CNRS |
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// |
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#ifndef __pinocchio_lie_group_variant_visitor_hpp__ |
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#define __pinocchio_lie_group_variant_visitor_hpp__ |
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#include "pinocchio/multibody/liegroup/fwd.hpp" |
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namespace pinocchio |
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{ |
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/** |
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* @brief Visit a LieGroupVariant to get the dimension of |
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* the Lie group configuration space |
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* @param[in] lg the LieGroupVariant. |
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* @return The dimension of the Lie group configuration space |
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*/ |
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template<typename LieGroupCollection> |
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inline int nq(const LieGroupGenericTpl<LieGroupCollection> & lg); |
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/** |
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* @brief Visit a LieGroupVariant to get the dimension of |
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* the Lie group tangent space |
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* |
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* @param[in] lg the LieGroupVariant. |
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* @return The dimension of the Lie group tangent space |
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*/ |
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template<typename LieGroupCollection> |
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inline int nv(const LieGroupGenericTpl<LieGroupCollection> & lg); |
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/** |
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* @brief Visit a LieGroupVariant to get the name of it |
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* |
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* @param[in] lg the LieGroupVariant. |
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* |
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* @return The Lie group name |
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*/ |
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template<typename LieGroupCollection> |
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inline std::string name(const LieGroupGenericTpl<LieGroupCollection> & lg); |
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/** |
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* @brief Visit a LieGroupVariant to get the neutral element of it |
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* |
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* @param[in] lg the LieGroupVariant. |
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* |
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* @return The Lie group neutral element |
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*/ |
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template<typename LieGroupCollection> |
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inline Eigen::Matrix<typename LieGroupCollection::Scalar,Eigen::Dynamic,1,LieGroupCollection::Options> |
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neutral(const LieGroupGenericTpl<LieGroupCollection> & lg); |
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/** |
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* @brief Visit a LieGroupVariant to call its integrate method |
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* |
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* @param[in] lg the LieGroupVariant. |
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* @param[in] q the starting configuration. |
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* @param[in] v the tangent velocity. |
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* |
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*/ |
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template<typename LieGroupCollection, class ConfigIn_t, class Tangent_t, class ConfigOut_t> |
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inline void integrate(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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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); |
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template<typename LieGroupCollection, class Config_t> |
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inline void random(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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const Eigen::MatrixBase<Config_t> & qout); |
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template<typename LieGroupCollection, class Config_t> |
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inline void normalize(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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const Eigen::MatrixBase<Config_t> & qout); |
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template<typename LieGroupCollection, class Config_t> |
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inline bool isNormalized(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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const Eigen::MatrixBase<Config_t> & qin, |
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const typename Config_t::Scalar& prec = Eigen::NumTraits<typename Config_t::Scalar>::dummy_precision()); |
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template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t> |
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inline bool isSameConfiguration(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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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 typename ConfigL_t::Scalar& prec); |
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template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t> |
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inline typename ConfigL_t::Scalar |
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squaredDistance(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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const Eigen::MatrixBase<ConfigL_t> & q0, |
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const Eigen::MatrixBase<ConfigR_t> & q1); |
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template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t> |
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inline typename ConfigL_t::Scalar |
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distance(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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const Eigen::MatrixBase<ConfigL_t> & q0, |
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const Eigen::MatrixBase<ConfigR_t> & q1) |
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{ |
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return std::sqrt(squaredDistance(lg, q0, q1)); |
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} |
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template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class Tangent_t> |
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inline void difference(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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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 Eigen::MatrixBase<Tangent_t> & v); |
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template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class ConfigOut_t> |
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inline void randomConfiguration(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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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 Eigen::MatrixBase<ConfigOut_t> & qout); |
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template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class ConfigOut_t> |
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inline void interpolate(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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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 typename ConfigL_t::Scalar& u, |
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const Eigen::MatrixBase<ConfigOut_t> & qout); |
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template<typename LieGroupCollection, class Config_t, class Tangent_t, class JacobianOut_t> |
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void dIntegrate(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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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 ArgumentPosition arg, |
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const AssignmentOperatorType op = SETTO); |
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template<typename LieGroupCollection, class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t> |
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void dIntegrate(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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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> & J_in, |
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int self, |
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const Eigen::MatrixBase<JacobianOut_t> & J_out, |
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const ArgumentPosition arg, |
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const AssignmentOperatorType op = SETTO); |
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template<typename LieGroupCollection, class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t> |
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void dIntegrate(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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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> & J_in, |
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const Eigen::MatrixBase<JacobianOut_t> & J_out, |
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const ArgumentPosition arg, |
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const AssignmentOperatorType op = SETTO); |
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template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class JacobianOut_t> |
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void dDifference(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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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 Eigen::MatrixBase<JacobianOut_t> & J, |
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const ArgumentPosition arg); |
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template<ArgumentPosition arg, typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class JacobianIn_t, class JacobianOut_t> |
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void dDifference(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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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 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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template<ArgumentPosition arg, typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class JacobianIn_t, class JacobianOut_t> |
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void dDifference(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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const Eigen::MatrixBase<ConfigL_t> & q0, |
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const Eigen::MatrixBase<ConfigR_t> & q1, |
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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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template<typename LieGroupCollection, class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t> |
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void dIntegrateTransport(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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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> & J_in, |
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const Eigen::MatrixBase<JacobianOut_t> & J_out, |
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const ArgumentPosition arg); |
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template<typename LieGroupCollection, class Config_t, class Tangent_t, class JacobianOut_t> |
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void dIntegrateTransport(const LieGroupGenericTpl<LieGroupCollection> & lg, |
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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 ArgumentPosition arg); |
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} |
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/// Details |
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#include "pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx" |
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#endif // ifndef __pinocchio_lie_group_variant_visitor_hpp__ |