GCC Code Coverage Report
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File: include/pinocchio/spatial/se3-tpl.hpp Lines: 112 113 99.1 %
Date: 2024-01-23 21:41:47 Branches: 122 238 51.3 %

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//
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// Copyright (c) 2015-2020 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_se3_tpl_hpp__
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#define __pinocchio_se3_tpl_hpp__
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#include "pinocchio/spatial/fwd.hpp"
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#include "pinocchio/spatial/se3-base.hpp"
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#include "pinocchio/math/quaternion.hpp"
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#include "pinocchio/math/rotation.hpp"
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#include "pinocchio/spatial/cartesian-axis.hpp"
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#include <Eigen/Geometry>
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namespace pinocchio
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{
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  template<typename _Scalar, int _Options>
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  struct traits< SE3Tpl<_Scalar,_Options> >
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  {
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    enum {
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      Options = _Options,
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      LINEAR = 0,
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      ANGULAR = 3
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    };
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    typedef _Scalar Scalar;
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    typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
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    typedef Eigen::Matrix<Scalar,4,1,Options> Vector4;
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    typedef Eigen::Matrix<Scalar,6,1,Options> Vector6;
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    typedef Eigen::Matrix<Scalar,3,3,Options> Matrix3;
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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 Matrix3 AngularType;
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    typedef typename PINOCCHIO_EIGEN_REF_TYPE(Matrix3) AngularRef;
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    typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Matrix3) ConstAngularRef;
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    typedef Vector3 LinearType;
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    typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector3) LinearRef;
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    typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector3) ConstLinearRef;
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    typedef Matrix6 ActionMatrixType;
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    typedef Matrix4 HomogeneousMatrixType;
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    typedef SE3Tpl<Scalar,Options> PlainType;
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  }; // traits SE3Tpl
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  template<typename _Scalar, int _Options>
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  struct SE3Tpl : public SE3Base< SE3Tpl<_Scalar,_Options> >
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  {
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    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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    PINOCCHIO_SE3_TYPEDEF_TPL(SE3Tpl);
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    typedef SE3Base< SE3Tpl<_Scalar,_Options> > Base;
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    typedef Eigen::Quaternion<Scalar,Options> Quaternion;
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    typedef typename traits<SE3Tpl>::Vector3 Vector3;
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    typedef typename traits<SE3Tpl>::Matrix3 Matrix3;
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    typedef typename traits<SE3Tpl>::Matrix4 Matrix4;
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    typedef typename traits<SE3Tpl>::Vector4 Vector4;
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    typedef typename traits<SE3Tpl>::Matrix6 Matrix6;
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    using Base::rotation;
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    using Base::translation;
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    SE3Tpl(): rot(), trans() {};
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    template<typename QuaternionLike,typename Vector3Like>
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    SE3Tpl(const Eigen::QuaternionBase<QuaternionLike> & quat,
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           const Eigen::MatrixBase<Vector3Like> & trans)
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    : rot(quat.matrix()), trans(trans)
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    {
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      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like,3)
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    }
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    template<typename Matrix3Like,typename Vector3Like>
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    SE3Tpl(const Eigen::MatrixBase<Matrix3Like> & R,
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           const Eigen::MatrixBase<Vector3Like> & trans)
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    : rot(R), trans(trans)
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    {
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      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like,3)
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      EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix3Like,3,3)
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    }
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    template<typename Matrix4Like>
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    explicit SE3Tpl(const Eigen::MatrixBase<Matrix4Like> & m)
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    : rot(m.template block<3,3>(LINEAR,LINEAR))
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    , trans(m.template block<3,1>(LINEAR,ANGULAR))
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    {
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      EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix4Like,4,4);
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    }
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    SE3Tpl(int)
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    : rot(AngularType::Identity())
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    , trans(LinearType::Zero())
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    {}
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    template<int O2>
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    SE3Tpl(const SE3Tpl<Scalar,O2> & clone)
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    : rot(clone.rotation()),trans(clone.translation()) {}
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    template<int O2>
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    SE3Tpl & operator=(const SE3Tpl<Scalar,O2> & other)
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    {
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      rot = other.rotation();
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      trans = other.translation();
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      return *this;
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    }
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    static SE3Tpl Identity()
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    {
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      return SE3Tpl(1);
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    }
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    SE3Tpl & setIdentity()
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    { rot.setIdentity (); trans.setZero (); return *this;}
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    /// aXb = bXa.inverse()
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    SE3Tpl inverse() const
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    {
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      return SE3Tpl(rot.transpose(), -rot.transpose()*trans);
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    }
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    static SE3Tpl Random()
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    {
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      return SE3Tpl().setRandom();
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    }
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    SE3Tpl & setRandom()
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    {
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      Quaternion q; quaternion::uniformRandom(q);
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      rot = q.matrix();
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      trans.setRandom();
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      return *this;
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    }
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    HomogeneousMatrixType toHomogeneousMatrix_impl() const
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    {
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      HomogeneousMatrixType M;
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      M.template block<3,3>(LINEAR,LINEAR) = rot;
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      M.template block<3,1>(LINEAR,ANGULAR) = trans;
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      M.template block<1,3>(ANGULAR,LINEAR).setZero();
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      M(3,3) = 1;
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      return M;
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    }
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    /// Vb.toVector() = bXa.toMatrix() * Va.toVector()
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    ActionMatrixType toActionMatrix_impl() const
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    {
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      typedef Eigen::Block<ActionMatrixType,3,3> Block3;
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      ActionMatrixType M;
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      M.template block<3,3>(ANGULAR,ANGULAR)
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      = M.template block<3,3>(LINEAR,LINEAR) = rot;
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      M.template block<3,3>(ANGULAR,LINEAR).setZero();
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      Block3 B = M.template block<3,3>(LINEAR,ANGULAR);
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      B.col(0) = trans.cross(rot.col(0));
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      B.col(1) = trans.cross(rot.col(1));
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      B.col(2) = trans.cross(rot.col(2));
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      return M;
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    }
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    ActionMatrixType toActionMatrixInverse_impl() const
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    {
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      typedef Eigen::Block<ActionMatrixType,3,3> Block3;
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      ActionMatrixType M;
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      M.template block<3,3>(ANGULAR,ANGULAR)
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      = M.template block<3,3>(LINEAR,LINEAR) = rot.transpose();
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      Block3 C = M.template block<3,3>(ANGULAR,LINEAR); // used as temporary
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      Block3 B = M.template block<3,3>(LINEAR,ANGULAR);
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#define PINOCCHIO_INTERNAL_COMPUTATION(axis_id,v3_in,v3_out,R,res) \
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  CartesianAxis<axis_id>::cross(v3_in,v3_out); \
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  res.col(axis_id).noalias() = R.transpose() * v3_out;
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      PINOCCHIO_INTERNAL_COMPUTATION(0,trans,C.col(0),rot,B);
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      PINOCCHIO_INTERNAL_COMPUTATION(1,trans,C.col(0),rot,B);
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      PINOCCHIO_INTERNAL_COMPUTATION(2,trans,C.col(0),rot,B);
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#undef PINOCCHIO_INTERNAL_COMPUTATION
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      C.setZero();
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      return M;
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    }
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    ActionMatrixType toDualActionMatrix_impl() const
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    {
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      typedef Eigen::Block<ActionMatrixType,3,3> Block3;
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      ActionMatrixType M;
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      M.template block<3,3>(ANGULAR,ANGULAR)
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      = M.template block<3,3>(LINEAR,LINEAR) = rot;
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      M.template block<3,3>(LINEAR,ANGULAR).setZero();
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      Block3 B = M.template block<3,3>(ANGULAR,LINEAR);
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      B.col(0) = trans.cross(rot.col(0));
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      B.col(1) = trans.cross(rot.col(1));
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      B.col(2) = trans.cross(rot.col(2));
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      return M;
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    }
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    void disp_impl(std::ostream & os) const
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    {
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      os
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      << "  R =\n" << rot << std::endl
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      << "  p = " << trans.transpose() << std::endl;
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    }
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    /// --- GROUP ACTIONS ON M6, F6 and I6 ---
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    /// ay = aXb.act(by)
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    template<typename D>
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    typename SE3GroupAction<D>::ReturnType
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    act_impl(const D & d) const
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    {
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      return d.se3Action(*this);
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    }
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    /// by = aXb.actInv(ay)
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    template<typename D> typename SE3GroupAction<D>::ReturnType
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    actInv_impl(const D & d) const
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    {
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      return d.se3ActionInverse(*this);
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    }
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    template<typename EigenDerived>
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    typename EigenDerived::PlainObject
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    actOnEigenObject(const Eigen::MatrixBase<EigenDerived> & p) const
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    { return (rotation()*p+translation()).eval(); }
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    template<typename MapDerived>
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    Vector3 actOnEigenObject(const Eigen::MapBase<MapDerived> & p) const
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    { return Vector3(rotation()*p+translation()); }
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    template<typename EigenDerived>
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    typename EigenDerived::PlainObject
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    actInvOnEigenObject(const Eigen::MatrixBase<EigenDerived> & p) const
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    { return (rotation().transpose()*(p-translation())).eval(); }
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    template<typename MapDerived>
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    Vector3 actInvOnEigenObject(const Eigen::MapBase<MapDerived> & p) const
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    { return Vector3(rotation().transpose()*(p-translation())); }
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    Vector3 act_impl(const Vector3 & p) const
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    { return Vector3(rotation()*p+translation()); }
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    Vector3 actInv_impl(const Vector3 & p) const
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    { return Vector3(rotation().transpose()*(p-translation())); }
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    template<int O2>
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    SE3Tpl act_impl(const SE3Tpl<Scalar,O2> & m2) const
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    { return SE3Tpl(rot*m2.rotation()
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                    ,translation()+rotation()*m2.translation());}
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    template<int O2>
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    SE3Tpl actInv_impl(const SE3Tpl<Scalar,O2> & m2) const
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    { return SE3Tpl(rot.transpose()*m2.rotation(),
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                    rot.transpose()*(m2.translation()-translation()));}
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    template<int O2>
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    SE3Tpl __mult__(const SE3Tpl<Scalar,O2> & m2) const
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    { return this->act_impl(m2);}
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    template<int O2>
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    bool isEqual(const SE3Tpl<Scalar,O2> & m2) const
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    {
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      return (rotation() == m2.rotation() && translation() == m2.translation());
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    }
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    template<int O2>
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    bool isApprox_impl(const SE3Tpl<Scalar,O2> & m2,
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                       const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
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    {
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      return rotation().isApprox(m2.rotation(), prec)
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      && translation().isApprox(m2.translation(), prec);
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    }
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    bool isIdentity(const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
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    {
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      return rotation().isIdentity(prec) && translation().isZero(prec);
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    }
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    ConstAngularRef rotation_impl() const { return rot; }
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    AngularRef rotation_impl() { return rot; }
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    void rotation_impl(const AngularType & R) { rot = R; }
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    ConstLinearRef translation_impl() const { return trans;}
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    LinearRef translation_impl() { return trans;}
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    void translation_impl(const LinearType & p) { trans = p; }
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    /// \returns An expression of *this with the Scalar type casted to NewScalar.
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    template<typename NewScalar>
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    SE3Tpl<NewScalar,Options> cast() const
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    {
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      typedef SE3Tpl<NewScalar,Options> ReturnType;
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      ReturnType res(rot.template cast<NewScalar>(),
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                     trans.template cast<NewScalar>());
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      // During the cast, it may appear that the matrix is not normalized correctly.
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      // Force the normalization of the rotation part of the matrix.
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      internal::cast_call_normalize_method<SE3Tpl,NewScalar,Scalar>::run(res);
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      return res;
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    }
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    bool isNormalized(const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
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    {
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      return isUnitary(rot,prec);
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    }
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    void normalize()
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    {
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      rot = orthogonalProjection(rot);
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    }
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    PlainType normalized() const
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    {
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      PlainType res(*this); res.normalize();
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      return res;
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    }
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    ///
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    /// \brief Linear interpolation on the SE3 manifold.
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    ///
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    /// \param[in] A Initial transformation.
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    /// \param[in] B Target transformation.
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    /// \param[in] alpha Interpolation factor in [0 ... 1].
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    ///
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    /// \returns An interpolated transformation between A and B.
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    ///
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    /// \note This is similar to the SLERP operation which acts initially for rotation but applied here to rigid transformation.
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    ///
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    template<typename OtherScalar>
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    static SE3Tpl Interpolate(const SE3Tpl & A, const SE3Tpl & B, const OtherScalar & alpha);
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  protected:
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    AngularType rot;
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    LinearType trans;
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  }; // class SE3Tpl
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  namespace internal
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  {
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    template<typename Scalar, int Options>
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    struct cast_call_normalize_method<SE3Tpl<Scalar,Options>,Scalar,Scalar>
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    {
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      template<typename T>
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      static void run(T &) {}
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    };
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    template<typename Scalar, int Options, typename NewScalar>
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    struct cast_call_normalize_method<SE3Tpl<Scalar,Options>,NewScalar,Scalar>
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    {
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      template<typename T>
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      static void run(T & self)
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      {
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        if(pinocchio::cast<NewScalar>(Eigen::NumTraits<Scalar>::epsilon()) > Eigen::NumTraits<NewScalar>::epsilon())
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          self.normalize();
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      }
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    };
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  }
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} // namespace pinocchio
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#endif // ifndef __pinocchio_se3_tpl_hpp__
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