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// Copyright (c) 2017-2018 CNRS |
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#ifndef __pinocchio_cartesian_axis_hpp__ |
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#define __pinocchio_cartesian_axis_hpp__ |
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#include "pinocchio/fwd.hpp" |
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namespace pinocchio |
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{ |
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template<int _axis> |
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struct CartesianAxis |
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{ |
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enum { axis = _axis, dim = 3 }; |
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template<typename V3_in, typename V3_out> |
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inline static void cross(const Eigen::MatrixBase<V3_in> & vin, |
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const Eigen::MatrixBase<V3_out> & vout); |
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template<typename V3> |
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static typename PINOCCHIO_EIGEN_PLAIN_TYPE(V3) cross(const Eigen::MatrixBase<V3> & vin) |
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{ |
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typename PINOCCHIO_EIGEN_PLAIN_TYPE(V3) res; |
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cross(vin,res); |
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return res; |
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} |
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template<typename Scalar, typename V3_in, typename V3_out> |
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inline static void alphaCross(const Scalar & s, |
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const Eigen::MatrixBase<V3_in> & vin, |
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const Eigen::MatrixBase<V3_out> & vout); |
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template<typename Scalar, typename V3> |
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static typename PINOCCHIO_EIGEN_PLAIN_TYPE(V3) alphaCross(const Scalar & s, |
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const Eigen::MatrixBase<V3> & vin) |
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{ |
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typename PINOCCHIO_EIGEN_PLAIN_TYPE(V3) res; |
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alphaCross(s,vin,res); |
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return res; |
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} |
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template<typename Scalar> |
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Eigen::Matrix<Scalar,dim,1> operator*(const Scalar & s) const |
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{ |
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typedef Eigen::Matrix<Scalar,dim,1> ReturnType; |
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ReturnType res; |
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✓✓ |
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for(Eigen::DenseIndex i = 0; i < dim; ++i) |
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✓✓ |
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res[i] = i == axis ? s : Scalar(0); |
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return res; |
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} |
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template<typename Scalar> |
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friend inline Eigen::Matrix<Scalar,dim,1> |
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operator*(const Scalar & s, const CartesianAxis &) |
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{ |
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✓✗ |
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return CartesianAxis() * s; |
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} |
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template<typename Vector3Like> |
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static void setTo(const Eigen::MatrixBase<Vector3Like> v3) |
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{ |
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Vector3Like & v3_ = PINOCCHIO_EIGEN_CONST_CAST(Vector3Like,v3); |
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typedef typename Vector3Like::Scalar Scalar; |
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for(Eigen::DenseIndex i = 0; i < dim; ++i) |
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v3_[i] = i == axis ? Scalar(1) : Scalar(0); |
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} |
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}; // struct CartesianAxis |
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template<> |
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template<typename V3_in, typename V3_out> |
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inline void CartesianAxis<0>::cross(const Eigen::MatrixBase<V3_in> & vin, |
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const Eigen::MatrixBase<V3_out> & vout) |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3_in,3) |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3_out,3) |
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V3_out & vout_ = PINOCCHIO_EIGEN_CONST_CAST(V3_out,vout); |
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vout_[0] = 0.; vout_[1] = -vin[2]; vout_[2] = vin[1]; |
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} |
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template<> |
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template<typename V3_in, typename V3_out> |
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inline void CartesianAxis<1>::cross(const Eigen::MatrixBase<V3_in> & vin, |
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const Eigen::MatrixBase<V3_out> & vout) |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3_in,3) |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3_out,3) |
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V3_out & vout_ = PINOCCHIO_EIGEN_CONST_CAST(V3_out,vout); |
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vout_[0] = vin[2]; vout_[1] = 0.; vout_[2] = -vin[0]; |
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} |
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template<> |
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template<typename V3_in, typename V3_out> |
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inline void CartesianAxis<2>::cross(const Eigen::MatrixBase<V3_in> & vin, |
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const Eigen::MatrixBase<V3_out> & vout) |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3_in,3) |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3_out,3) |
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V3_out & vout_ = PINOCCHIO_EIGEN_CONST_CAST(V3_out,vout); |
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vout_[0] = -vin[1]; vout_[1] = vin[0]; vout_[2] = 0.; |
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} |
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template<> |
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template<typename Scalar, typename V3_in, typename V3_out> |
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inline void CartesianAxis<0>::alphaCross(const Scalar & s, |
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const Eigen::MatrixBase<V3_in> & vin, |
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const Eigen::MatrixBase<V3_out> & vout) |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3_in,3) |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3_out,3) |
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V3_out & vout_ = PINOCCHIO_EIGEN_CONST_CAST(V3_out,vout); |
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vout_[0] = 0.; vout_[1] = -s*vin[2]; vout_[2] = s*vin[1]; |
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} |
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template<> |
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template<typename Scalar, typename V3_in, typename V3_out> |
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inline void CartesianAxis<1>::alphaCross(const Scalar & s, |
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const Eigen::MatrixBase<V3_in> & vin, |
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const Eigen::MatrixBase<V3_out> & vout) |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3_in,3) |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3_out,3) |
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V3_out & vout_ = PINOCCHIO_EIGEN_CONST_CAST(V3_out,vout); |
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vout_[0] = s*vin[2]; vout_[1] = 0.; vout_[2] = -s*vin[0]; |
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} |
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template<> |
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template<typename Scalar, typename V3_in, typename V3_out> |
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inline void CartesianAxis<2>::alphaCross(const Scalar & s, |
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const Eigen::MatrixBase<V3_in> & vin, |
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const Eigen::MatrixBase<V3_out> & vout) |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3_in,3) |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3_out,3) |
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V3_out & vout_ = PINOCCHIO_EIGEN_CONST_CAST(V3_out,vout); |
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vout_[0] = -s*vin[1]; vout_[1] = s*vin[0]; vout_[2] = 0.; |
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} |
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typedef CartesianAxis<0> AxisX; |
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typedef CartesianAxis<1> AxisY; |
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typedef CartesianAxis<2> AxisZ; |
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} |
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#endif // __pinocchio_cartesian_axis_hpp__ |