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// Copyright (c) 2017-2019 CNRS INRIA |
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#ifndef __pinocchio_motion_ref_hpp__ |
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#define __pinocchio_motion_ref_hpp__ |
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namespace pinocchio |
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{ |
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template<typename Vector6ArgType> |
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struct traits< MotionRef<Vector6ArgType> > |
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{ |
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typedef typename Vector6ArgType::Scalar Scalar; |
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typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6ArgType) Vector6; |
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enum { |
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LINEAR = 0, |
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ANGULAR = 3, |
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Options = Vector6::Options |
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}; |
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typedef Eigen::Matrix<Scalar,3,1,Options> Vector3; |
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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 Matrix6 ActionMatrixType; |
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typedef Matrix4 HomogeneousMatrixType; |
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typedef typename Vector6ArgType::template FixedSegmentReturnType<3>::Type LinearType; |
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typedef typename Vector6ArgType::template FixedSegmentReturnType<3>::Type AngularType; |
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typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstLinearType; |
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typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstAngularType; |
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typedef MotionTpl<Scalar,Options> MotionPlain; |
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typedef MotionPlain PlainReturnType; |
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typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6ArgType) DataRefType; |
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typedef DataRefType ToVectorReturnType; |
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typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6ArgType) ConstDataRefType; |
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typedef ConstDataRefType ToVectorConstReturnType; |
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typedef MotionRef<Vector6ArgType> MotionRefType; |
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}; // traits MotionRef |
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template<typename Vector6ArgType> |
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struct SE3GroupAction< MotionRef<Vector6ArgType> > |
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{ |
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typedef typename traits< MotionRef<Vector6ArgType> >::MotionPlain ReturnType; |
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}; |
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template<typename Vector6ArgType, typename MotionDerived> |
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struct MotionAlgebraAction< MotionRef<Vector6ArgType>, MotionDerived > |
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{ |
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typedef typename traits< MotionRef<Vector6ArgType> >::MotionPlain ReturnType; |
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}; |
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namespace internal |
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{ |
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template<typename Vector6ArgType, typename Scalar> |
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struct RHSScalarMultiplication< MotionRef<Vector6ArgType>, Scalar > |
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{ |
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typedef typename pinocchio::traits< MotionRef<Vector6ArgType> >::MotionPlain ReturnType; |
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}; |
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template<typename Vector6ArgType, typename Scalar> |
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struct LHSScalarMultiplication< MotionRef<Vector6ArgType>, Scalar > |
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{ |
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typedef typename traits< MotionRef<Vector6ArgType> >::MotionPlain ReturnType; |
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}; |
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} |
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template<typename Vector6ArgType> |
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class MotionRef : public MotionDense< MotionRef<Vector6ArgType> > |
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{ |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef MotionDense<MotionRef> Base; |
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typedef typename traits<MotionRef>::DataRefType DataRefType; |
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MOTION_TYPEDEF_TPL(MotionRef); |
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using Base::operator=; |
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using Base::linear; |
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using Base::angular; |
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using Base::__plus__; |
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using Base::__opposite__; |
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using Base::__minus__; |
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using Base::__pequ__; |
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using Base::__mequ__; |
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using Base::__mult__; |
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/// \brief Default constructor from a 6 dimensional vector. |
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MotionRef(typename PINOCCHIO_EIGEN_REF_TYPE(Vector6ArgType) v_like) |
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: m_ref(v_like) |
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{ |
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EIGEN_STATIC_ASSERT(Vector6ArgType::ColsAtCompileTime == 1, |
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YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX); |
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✗✓ |
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assert(v_like.size() == 6); |
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} |
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/// \brief Copy constructor from another MotionRef. |
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MotionRef(const MotionRef & other) |
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: m_ref(other.m_ref) |
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{} |
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ToVectorConstReturnType toVector_impl() const { return m_ref; } |
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ToVectorReturnType toVector_impl() { return m_ref; } |
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// Getters |
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ConstAngularType angular_impl() const { return ConstAngularType(m_ref.derived(),ANGULAR); } |
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ConstLinearType linear_impl() const { return ConstLinearType(m_ref.derived(),LINEAR); } |
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AngularType angular_impl() { return m_ref.template segment<3> (ANGULAR); } |
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LinearType linear_impl() { return m_ref.template segment<3> (LINEAR); } |
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template<typename V3> |
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void angular_impl(const Eigen::MatrixBase<V3> & w) |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3,3); |
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angular_impl()=w; |
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} |
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template<typename V3> |
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void linear_impl(const Eigen::MatrixBase<V3> & v) |
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{ |
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3,3); |
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linear_impl()=v; |
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} |
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// Specific operators for MotionTpl and MotionRef |
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template<typename S1, int O1> |
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MotionPlain __plus__(const MotionTpl<S1,O1> & v) const |
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{ return MotionPlain(m_ref+v.toVector()); } |
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template<typename Vector6Like> |
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MotionPlain __plus__(const MotionRef<Vector6ArgType> & v) const |
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{ return MotionPlain(m_ref+v.toVector()); } |
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template<typename S1, int O1> |
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MotionPlain __minus__(const MotionTpl<S1,O1> & v) const |
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{ return MotionPlain(m_ref-v.toVector()); } |
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template<typename Vector6Like> |
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MotionPlain __minus__(const MotionRef<Vector6ArgType> & v) const |
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{ return MotionPlain(m_ref-v.toVector()); } |
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template<typename S1, int O1> |
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MotionRef & __pequ__(const MotionTpl<S1,O1> & v) |
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{ m_ref += v.toVector(); return *this; } |
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template<typename Vector6Like> |
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MotionRef & __pequ__(const MotionRef<Vector6ArgType> & v) |
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{ m_ref += v.toVector(); return *this; } |
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template<typename S1, int O1> |
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MotionRef & __mequ__(const MotionTpl<S1,O1> & v) |
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{ m_ref -= v.toVector(); return *this; } |
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template<typename Vector6Like> |
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MotionRef & __mequ__(const MotionRef<Vector6ArgType> & v) |
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{ m_ref -= v.toVector(); return *this; } |
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template<typename OtherScalar> |
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MotionPlain __mult__(const OtherScalar & alpha) const |
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✓✗ |
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{ return MotionPlain(alpha*m_ref); } |
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MotionRef & ref() { return *this; } |
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inline PlainReturnType plain() const { return PlainReturnType(m_ref); } |
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protected: |
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DataRefType m_ref; |
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}; // class MotionRef<Vector6Like> |
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template<typename Vector6ArgType> |
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struct traits< MotionRef<const Vector6ArgType> > |
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{ |
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typedef typename Vector6ArgType::Scalar Scalar; |
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typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6ArgType) Vector6; |
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enum { |
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LINEAR = 0, |
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ANGULAR = 3, |
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Options = Vector6::Options |
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}; |
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typedef Eigen::Matrix<Scalar,3,1,Options> Vector3; |
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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 Matrix6 ActionMatrixType; |
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typedef Matrix4 HomogeneousMatrixType; |
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typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstLinearType; |
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typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstAngularType; |
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typedef ConstLinearType LinearType; |
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typedef ConstAngularType AngularType; |
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typedef MotionTpl<Scalar,Options> MotionPlain; |
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typedef MotionPlain PlainReturnType; |
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typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6ArgType) ConstDataRefType; |
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typedef ConstDataRefType ToVectorConstReturnType; |
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typedef ConstDataRefType DataRefType; |
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typedef DataRefType ToVectorReturnType; |
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typedef MotionRef<const Vector6ArgType> MotionRefType; |
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}; // traits MotionRef<const Vector6ArgType> |
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template<typename Vector6ArgType> |
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class MotionRef<const Vector6ArgType> |
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: public MotionDense< MotionRef<const Vector6ArgType> > |
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{ |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef MotionDense<MotionRef> Base; |
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typedef typename traits<MotionRef>::DataRefType DataRefType; |
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MOTION_TYPEDEF_TPL(MotionRef); |
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using Base::operator=; |
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using Base::linear; |
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using Base::angular; |
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using Base::__plus__; |
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using Base::__opposite__; |
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using Base::__minus__; |
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using Base::__mult__; |
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MotionRef(typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6ArgType) v_like) |
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: m_ref(v_like) |
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{ |
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EIGEN_STATIC_ASSERT(Vector6ArgType::ColsAtCompileTime == 1, |
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YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX); |
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✗✓ |
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assert(v_like.size() == 6); |
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} |
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ToVectorConstReturnType toVector_impl() const { return m_ref; } |
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// Getters |
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ConstAngularType angular_impl() const { return ConstAngularType(m_ref.derived(),ANGULAR); } |
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ConstLinearType linear_impl() const { return ConstLinearType(m_ref.derived(),LINEAR); } |
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// Specific operators for MotionTpl and MotionRef |
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template<typename S1, int O1> |
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MotionPlain __plus__(const MotionTpl<S1,O1> & v) const |
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✓✗ |
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{ return MotionPlain(m_ref+v.toVector()); } |
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template<typename Vector6Like> |
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MotionPlain __plus__(const MotionRef<Vector6ArgType> & v) const |
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{ return MotionPlain(m_ref+v.toVector()); } |
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template<typename S1, int O1> |
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MotionPlain __minus__(const MotionTpl<S1,O1> & v) const |
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{ return MotionPlain(m_ref-v.toVector()); } |
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template<typename Vector6Like> |
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MotionPlain __minus__(const MotionRef<Vector6ArgType> & v) const |
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{ return MotionPlain(m_ref-v.toVector()); } |
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template<typename OtherScalar> |
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MotionPlain __mult__(const OtherScalar & alpha) const |
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{ return MotionPlain(alpha*m_ref); } |
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const MotionRef & ref() const { return *this; } |
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inline PlainReturnType plain() const { return PlainReturnType(m_ref); } |
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protected: |
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DataRefType m_ref; |
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}; // class MotionRef<const Vector6Like> |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_motion_ref_hpp__ |