| Directory: | ./ |
|---|---|
| File: | examples/interpolation-SE3.cpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 24 | 24 | 100.0% |
| Branches: | 26 | 52 | 50.0% |
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| 1 | #include <iostream> | ||
| 2 | #include "pinocchio/multibody/liegroup/liegroup.hpp" | ||
| 3 | |||
| 4 | using namespace pinocchio; | ||
| 5 | |||
| 6 | 1 | int main() | |
| 7 | { | ||
| 8 | typedef double Scalar; | ||
| 9 | |||
| 10 | typedef SpecialEuclideanOperationTpl<3, Scalar> SE3Operation; | ||
| 11 |
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1 | SE3Operation aSE3; |
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1 | SE3Operation::ConfigVector_t pose_s, pose_g; |
| 13 |
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1 | SE3Operation::TangentVector_t delta_u; |
| 14 | |||
| 15 | // Starting configuration | ||
| 16 |
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1 | pose_s(0) = 1.0; |
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1 | pose_s(1) = 1.0; |
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1 | pose_s(2) = 1; |
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1 | pose_s(3) = -0.13795; |
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1 | pose_s(4) = 0.13795; |
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1 | pose_s(5) = 0.69352; |
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1 | pose_s(6) = 0.69352; |
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1 | aSE3.normalize(pose_s); |
| 24 | |||
| 25 | // Goal configuration | ||
| 26 |
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1 | pose_g(0) = 4; |
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1 | pose_g(1) = 3; |
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1 | pose_g(2) = 3; |
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1 | pose_g(3) = -0.46194; |
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1 | pose_g(4) = 0.331414; |
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1 | pose_g(5) = 0.800103; |
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1 | pose_g(6) = 0.191342; |
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1 | aSE3.normalize(pose_g); |
| 34 | |||
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1 | SE3Operation::ConfigVector_t pole_u; |
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1 | aSE3.interpolate(pose_s, pose_g, 0.5, pole_u); |
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1 | std::cout << "Interpolated configuration: " << pole_u.transpose() << std::endl; |
| 38 | |||
| 39 | 1 | return 0; | |
| 40 | } | ||
| 41 |