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// |
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// Copyright (c) 2019 INRIA |
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// |
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#ifndef __pinocchio_multibody_joint_joint_common_operations_hpp__ |
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#define __pinocchio_multibody_joint_joint_common_operations_hpp__ |
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#include "pinocchio/macros.hpp" |
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#include "pinocchio/math/matrix.hpp" |
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#include <boost/type_traits.hpp> |
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namespace pinocchio |
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{ |
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namespace internal |
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{ |
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/// |
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/// \brief Operation called in JointModelBase<JointModel>::calc_aba |
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/// |
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template<typename Scalar, bool is_floating_point = pinocchio::is_floating_point<Scalar>::value> |
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struct PerformStYSInversion |
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{ |
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template<typename M1, typename M2> |
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static EIGEN_STRONG_INLINE void |
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run(const Eigen::MatrixBase<M1> & StYS, const Eigen::MatrixBase<M2> & Dinv) |
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{ |
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M2 & Dinv_ = PINOCCHIO_EIGEN_CONST_CAST(M2, Dinv); |
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Dinv_.setIdentity(); |
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StYS.llt().solveInPlace(Dinv_); |
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} |
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}; |
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template<typename Scalar> |
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struct PerformStYSInversion<Scalar, false> |
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{ |
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template<typename M1, typename M2> |
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static EIGEN_STRONG_INLINE void |
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run(const Eigen::MatrixBase<M1> & StYS, const Eigen::MatrixBase<M2> & Dinv) |
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{ |
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M2 & Dinv_ = PINOCCHIO_EIGEN_CONST_CAST(M2, Dinv); |
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inverse(StYS, Dinv_); |
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} |
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}; |
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} // namespace internal |
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/// |
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/// \brief Linear affine transformation of the configuration vector. |
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/// Valide for most common joints which are evolving on a vector space. |
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/// |
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struct LinearAffineTransform |
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{ |
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template<typename ConfigVectorIn, typename Scalar, typename ConfigVectorOut> |
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static void run( |
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const Eigen::MatrixBase<ConfigVectorIn> & q, |
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const Scalar & scaling, |
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const Scalar & offset, |
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const Eigen::MatrixBase<ConfigVectorOut> & dest) |
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{ |
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assert(q.size() == dest.size()); |
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PINOCCHIO_EIGEN_CONST_CAST(ConfigVectorOut, dest).noalias() = |
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scaling * q + ConfigVectorOut::Constant(dest.size(), offset); |
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} |
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}; |
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/// |
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/// \brief Assign the correct configuration vector space affine transformation according to the |
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/// joint type. |
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/// |
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template<typename Joint> |
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struct ConfigVectorAffineTransform |
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{ |
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typedef LinearAffineTransform Type; |
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}; |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_multibody_joint_joint_common_operations_hpp__ |
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