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// Copyright (c) 2016-2021 CNRS INRIA |
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// |
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#ifndef __pinocchio_algorithm_joint_configuration_hpp__ |
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#define __pinocchio_algorithm_joint_configuration_hpp__ |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/multibody/liegroup/liegroup.hpp" |
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namespace pinocchio |
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{ |
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/// \name API with return value as argument |
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/// \{ |
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/** |
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* |
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* @brief Integrate a configuration vector for the specified model for a tangent vector |
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* during one unit time |
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* |
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* @details This function corresponds to the exponential map of the joint configuration Lie Group. |
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* Its output can be interpreted as the "sum" from the Lie algebra to the joint |
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* configuration space \f$ q \oplus v \f$. |
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* |
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* @param[in] model Model of the kinematic tree on which the integration is performed. |
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* @param[in] q Initial configuration (size model.nq) |
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* @param[in] v Joint velocity (size model.nv) |
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* |
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* @param[out] qout The integrated configuration (size model.nq) |
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* |
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*/ |
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template< |
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typename LieGroup_t, |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorType, |
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typename TangentVectorType, |
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typename ReturnType> |
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void integrate( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const Eigen::MatrixBase<ConfigVectorType> & q, |
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const Eigen::MatrixBase<TangentVectorType> & v, |
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const Eigen::MatrixBase<ReturnType> & qout); |
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/** |
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* |
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* @brief Integrate a configuration vector for the specified model for a tangent vector |
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* during one unit time |
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* |
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* @details This function corresponds to the exponential map of the joint configuration Lie Group. |
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* Its output can be interpreted as the "sum" from the Lie algebra to the joint |
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* configuration space \f$ q \oplus v \f$. |
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* |
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* @param[in] model Model of the kinematic tree on which the integration is performed. |
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* @param[in] q Initial configuration (size model.nq) |
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* @param[in] v Joint velocity (size model.nv) |
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* |
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* @param[out] qout The integrated configuration (size model.nq) |
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* |
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*/ |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorType, |
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typename TangentVectorType, |
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typename ReturnType> |
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void integrate( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const Eigen::MatrixBase<ConfigVectorType> & q, |
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const Eigen::MatrixBase<TangentVectorType> & v, |
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const Eigen::MatrixBase<ReturnType> & qout) |
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{ |
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integrate< |
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LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType, |
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ReturnType>(model, q.derived(), v.derived(), qout.derived()); |
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} |
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/** |
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* |
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* @brief Interpolate two configurations for a given model |
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* |
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* @param[in] model Model of the kinematic tree on which the interpolation is performed. |
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* @param[in] q0 Initial configuration vector (size model.nq) |
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* @param[in] q1 Final configuration vector (size model.nq) |
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* @param[in] u u in [0;1] position along the interpolation. |
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* |
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* @param[out] qout The interpolated configuration (q0 if u = 0, q1 if u = 1) |
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* |
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*/ |
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template< |
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typename LieGroup_t, |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorIn1, |
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typename ConfigVectorIn2, |
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typename ReturnType> |
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void interpolate( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
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const Eigen::MatrixBase<ConfigVectorIn2> & q1, |
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const Scalar & u, |
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const Eigen::MatrixBase<ReturnType> & qout); |
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/** |
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* |
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* @brief Interpolate two configurations for a given model |
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* |
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* @param[in] model Model of the kinematic tree on which the interpolation is performed. |
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* @param[in] q0 Initial configuration vector (size model.nq) |
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* @param[in] q1 Final configuration vector (size model.nq) |
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* @param[in] u u in [0;1] position along the interpolation. |
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* |
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* @param[out] qout The interpolated configuration (q0 if u = 0, q1 if u = 1) |
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* |
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*/ |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorIn1, |
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typename ConfigVectorIn2, |
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typename ReturnType> |
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void interpolate( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
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const Eigen::MatrixBase<ConfigVectorIn2> & q1, |
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const Scalar & u, |
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const Eigen::MatrixBase<ReturnType> & qout) |
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{ |
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interpolate< |
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LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorIn1, ConfigVectorIn2, |
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ReturnType>( |
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model, q0.derived(), q1.derived(), u, PINOCCHIO_EIGEN_CONST_CAST(ReturnType, qout)); |
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} |
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/** |
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* |
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* @brief Compute the tangent vector that must be integrated during one unit time to go from |
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* q0 to q1 |
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* |
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* @details This function corresponds to the log map of the joint configuration Lie Group. |
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* Its output can be interpreted as a difference from the joint configuration space to |
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* the Lie algebra \f$ q_1 \ominus q_0 \f$. |
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* |
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* @param[in] model Model of the system on which the difference operation is performed. |
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* @param[in] q0 Initial configuration (size model.nq) |
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* @param[in] q1 Desired configuration (size model.nq) |
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* |
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* @param[out] dvout The corresponding velocity (size model.nv) |
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* |
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*/ |
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template< |
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typename LieGroup_t, |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorIn1, |
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typename ConfigVectorIn2, |
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typename ReturnType> |
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void difference( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
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const Eigen::MatrixBase<ConfigVectorIn2> & q1, |
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const Eigen::MatrixBase<ReturnType> & dvout); |
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/** |
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* |
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* @brief Compute the tangent vector that must be integrated during one unit time to go from |
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* q0 to q1 |
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* |
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* @details This function corresponds to the log map of the joint configuration Lie Group. |
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* Its output can be interpreted as a difference from the joint configuration space to |
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* the Lie algebra \f$ q_1 \ominus q_0 \f$. |
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* |
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* @param[in] model Model of the system on which the difference operation is performed. |
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* @param[in] q0 Initial configuration (size model.nq) |
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* @param[in] q1 Desired configuration (size model.nq) |
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* |
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* @param[out] dvout The corresponding velocity (size model.nv). |
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* |
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*/ |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorIn1, |
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typename ConfigVectorIn2, |
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typename ReturnType> |
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void difference( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
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const Eigen::MatrixBase<ConfigVectorIn2> & q1, |
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const Eigen::MatrixBase<ReturnType> & dvout) |
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{ |
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difference< |
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LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorIn1, ConfigVectorIn2, |
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ReturnType>(model, q0.derived(), q1.derived(), PINOCCHIO_EIGEN_CONST_CAST(ReturnType, dvout)); |
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} |
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/** |
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* |
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* @brief Squared distance between two configuration vectors |
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* |
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* @param[in] model Model of the system on which the squared distance operation is |
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* performed. |
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* @param[in] q0 Configuration 0 (size model.nq) |
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* @param[in] q1 Configuration 1 (size model.nq) |
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* @param[out] out The corresponding squared distances for each joint (size |
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* model.njoints-1 = number of joints). |
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* |
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*/ |
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template< |
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typename LieGroup_t, |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorIn1, |
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typename ConfigVectorIn2, |
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typename ReturnType> |
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void squaredDistance( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
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const Eigen::MatrixBase<ConfigVectorIn2> & q1, |
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const Eigen::MatrixBase<ReturnType> & out); |
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/** |
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* |
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* @brief Squared distance between two configuration vectors |
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* |
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* @param[in] model Model of the system on which the squared distance operation is |
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* performed. |
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* @param[in] q0 Configuration 0 (size model.nq) |
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* @param[in] q1 Configuration 1 (size model.nq) |
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* @param[out] out The corresponding squared distances for each joint (size |
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* model.njoints-1 = number of joints). |
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* |
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*/ |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorIn1, |
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typename ConfigVectorIn2, |
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typename ReturnType> |
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void squaredDistance( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
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const Eigen::MatrixBase<ConfigVectorIn2> & q1, |
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const Eigen::MatrixBase<ReturnType> & out) |
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{ |
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squaredDistance< |
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LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorIn1, ConfigVectorIn2, |
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ReturnType>(model, q0.derived(), q1.derived(), PINOCCHIO_EIGEN_CONST_CAST(ReturnType, out)); |
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} |
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/** |
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* |
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* @brief Generate a configuration vector uniformly sampled among provided limits. |
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* |
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* @remarks Limits are not taken into account for rotational transformations (typically |
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* SO(2),SO(3)), because they are by definition unbounded. |
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* |
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* @warning If limits are infinite, exceptions may be thrown in the joint implementation of |
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* uniformlySample. |
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* |
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* @param[in] model Model of the system on which the random configuration |
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* operation is performed. |
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* @param[in] lowerLimits Joints lower limits (size model.nq). |
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* @param[in] upperLimits Joints upper limits (size model.nq). |
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* @param[out] qout The resulting configuration vector (size model.nq). |
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* |
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*/ |
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template< |
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typename LieGroup_t, |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorIn1, |
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typename ConfigVectorIn2, |
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typename ReturnType> |
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void randomConfiguration( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const Eigen::MatrixBase<ConfigVectorIn1> & lowerLimits, |
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const Eigen::MatrixBase<ConfigVectorIn2> & upperLimits, |
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const Eigen::MatrixBase<ReturnType> & qout); |
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/** |
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* |
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* @brief Generate a configuration vector uniformly sampled among provided limits. |
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* |
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* @remarks Limits are not taken into account for rotational transformations (typically |
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* SO(2),SO(3)), because they are by definition unbounded. |
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* |
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* @warning If limits are infinite, exceptions may be thrown in the joint implementation of |
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* uniformlySample |
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* |
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* @param[in] model Model of the system on which the random configuration operation |
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* is performed. |
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* @param[in] lowerLimits Joints lower limits (size model.nq). |
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* @param[in] upperLimits Joints upper limits (size model.nq). |
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* @param[out] qout The resulting configuration vector (size model.nq). |
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* |
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*/ |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorIn1, |
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typename ConfigVectorIn2, |
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typename ReturnType> |
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void randomConfiguration( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const Eigen::MatrixBase<ConfigVectorIn1> & lowerLimits, |
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const Eigen::MatrixBase<ConfigVectorIn2> & upperLimits, |
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const Eigen::MatrixBase<ReturnType> & qout) |
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{ |
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randomConfiguration< |
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LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorIn1, ConfigVectorIn2, |
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✗ |
ReturnType>( |
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model, lowerLimits.derived(), upperLimits.derived(), |
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PINOCCHIO_EIGEN_CONST_CAST(ReturnType, qout)); |
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} |
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/** |
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* |
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* @brief Return the neutral configuration element related to the model configuration |
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* space. |
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* |
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* @param[in] model Model of the kinematic tree on which the neutral element is computed |
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* |
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* @param[out] qout The neutral configuration element (size model.nq). |
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* |
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*/ |
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template< |
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typename LieGroup_t, |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ReturnType> |
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void neutral( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const Eigen::MatrixBase<ReturnType> & qout); |
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/** |
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* |
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* @brief Return the neutral configuration element related to the model configuration |
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* space. |
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* |
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* @param[in] model Model of the kinematic tree on which the neutral element is computed. |
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* |
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* @param[out] qout The neutral configuration element (size model.nq). |
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* |
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*/ |
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template< |
| 370 |
|
|
typename Scalar, |
| 371 |
|
|
int Options, |
| 372 |
|
|
template<typename, int> |
| 373 |
|
|
class JointCollectionTpl, |
| 374 |
|
|
typename ReturnType> |
| 375 |
|
22 |
void neutral( |
| 376 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 377 |
|
|
const Eigen::MatrixBase<ReturnType> & qout) |
| 378 |
|
|
{ |
| 379 |
|
22 |
neutral<LieGroupMap, Scalar, Options, JointCollectionTpl, ReturnType>( |
| 380 |
|
22 |
model, PINOCCHIO_EIGEN_CONST_CAST(ReturnType, qout)); |
| 381 |
|
22 |
} |
| 382 |
|
|
|
| 383 |
|
|
/** |
| 384 |
|
|
* |
| 385 |
|
|
* @brief Computes the Jacobian of a small variation of the configuration vector or the tangent |
| 386 |
|
|
* vector into the tangent space at identity. |
| 387 |
|
|
* |
| 388 |
|
|
* @details This jacobian has to be interpreted in terms of Lie group, not vector space: as such, |
| 389 |
|
|
* it is expressed in the tangent space only, not the configuration space. |
| 390 |
|
|
* Calling \f$ f(q, v) \f$ the integrate function, these jacobians satisfy the following |
| 391 |
|
|
* relationships in the tangent space: |
| 392 |
|
|
* - Jacobian relative to q: \f$ f(q \oplus \delta q, v) \ominus f(q, v) = J_q \delta q |
| 393 |
|
|
* + o(\delta q)\f$. |
| 394 |
|
|
* - Jacobian relative to v: \f$ f(q, v + \delta v) \ominus f(q, v) = J_v \delta v + |
| 395 |
|
|
* o(\delta v)\f$. |
| 396 |
|
|
* |
| 397 |
|
|
* @param[in] model Model of the kinematic tree on which the integration operation is |
| 398 |
|
|
* performed. |
| 399 |
|
|
* @param[in] q Initial configuration (size model.nq) |
| 400 |
|
|
* @param[in] v Joint velocity (size model.nv) |
| 401 |
|
|
* @param[out] J Jacobian of the Integrate operation, either with respect to q or v (size |
| 402 |
|
|
* model.nv x model.nv). |
| 403 |
|
|
* @param[in] arg Argument (either q or v) with respect to which the differentiation is |
| 404 |
|
|
* performed. |
| 405 |
|
|
* |
| 406 |
|
|
*/ |
| 407 |
|
|
template< |
| 408 |
|
|
typename LieGroup_t, |
| 409 |
|
|
typename Scalar, |
| 410 |
|
|
int Options, |
| 411 |
|
|
template<typename, int> |
| 412 |
|
|
class JointCollectionTpl, |
| 413 |
|
|
typename ConfigVectorType, |
| 414 |
|
|
typename TangentVectorType, |
| 415 |
|
|
typename JacobianMatrixType> |
| 416 |
|
|
void dIntegrate( |
| 417 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 418 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q, |
| 419 |
|
|
const Eigen::MatrixBase<TangentVectorType> & v, |
| 420 |
|
|
const Eigen::MatrixBase<JacobianMatrixType> & J, |
| 421 |
|
|
const ArgumentPosition arg, |
| 422 |
|
|
const AssignmentOperatorType op = SETTO); |
| 423 |
|
|
|
| 424 |
|
|
/** |
| 425 |
|
|
* |
| 426 |
|
|
* @brief Computes the Jacobian of a small variation of the configuration vector or the tangent |
| 427 |
|
|
* vector into the tangent space at identity. |
| 428 |
|
|
* |
| 429 |
|
|
* @details This jacobian has to be interpreted in terms of Lie group, not vector space: as such, |
| 430 |
|
|
* it is expressed in the tangent space only, not the configuration space. |
| 431 |
|
|
* Calling \f$ f(q, v) \f$ the integrate function, these jacobians satisfy the following |
| 432 |
|
|
* relationships in the tangent space: |
| 433 |
|
|
* - Jacobian relative to q: \f$ f(q \oplus \delta q, v) \ominus f(q, v) = J_q(q, v) |
| 434 |
|
|
* \delta q + o(\delta q)\f$. |
| 435 |
|
|
* - Jacobian relative to v: \f$ f(q, v + \delta v) \ominus f(q, v) = J_v(q, v) \delta v |
| 436 |
|
|
* + o(\delta v)\f$. |
| 437 |
|
|
* |
| 438 |
|
|
* @param[in] model Model of the kinematic tree on which the integration operation is |
| 439 |
|
|
* performed. |
| 440 |
|
|
* @param[in] q Initial configuration (size model.nq) |
| 441 |
|
|
* @param[in] v Joint velocity (size model.nv) |
| 442 |
|
|
* @param[out] J Jacobian of the Integrate operation, either with respect to q or v |
| 443 |
|
|
* (size model.nv x model.nv). |
| 444 |
|
|
* @param[in] arg Argument (either q or v) with respect to which the differentiation is |
| 445 |
|
|
* performed. |
| 446 |
|
|
* |
| 447 |
|
|
*/ |
| 448 |
|
|
template< |
| 449 |
|
|
typename Scalar, |
| 450 |
|
|
int Options, |
| 451 |
|
|
template<typename, int> |
| 452 |
|
|
class JointCollectionTpl, |
| 453 |
|
|
typename ConfigVectorType, |
| 454 |
|
|
typename TangentVectorType, |
| 455 |
|
|
typename JacobianMatrixType> |
| 456 |
|
8 |
void dIntegrate( |
| 457 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 458 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q, |
| 459 |
|
|
const Eigen::MatrixBase<TangentVectorType> & v, |
| 460 |
|
|
const Eigen::MatrixBase<JacobianMatrixType> & J, |
| 461 |
|
|
const ArgumentPosition arg) |
| 462 |
|
|
{ |
| 463 |
|
|
dIntegrate< |
| 464 |
|
|
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType, |
| 465 |
|
8 |
JacobianMatrixType>( |
| 466 |
|
8 |
model, q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType, J), arg, |
| 467 |
|
|
SETTO); |
| 468 |
|
8 |
} |
| 469 |
|
|
|
| 470 |
|
|
/** |
| 471 |
|
|
* |
| 472 |
|
|
* @brief Computes the Jacobian of a small variation of the configuration vector or the tangent |
| 473 |
|
|
* vector into the tangent space at identity. |
| 474 |
|
|
* |
| 475 |
|
|
* @details This jacobian has to be interpreted in terms of Lie group, not vector space: as such, |
| 476 |
|
|
* it is expressed in the tangent space only, not the configuration space. |
| 477 |
|
|
* Calling \f$ f(q, v) \f$ the integrate function, these jacobians satisfy the following |
| 478 |
|
|
* relationships in the tangent space: |
| 479 |
|
|
* - Jacobian relative to q: \f$ f(q \oplus \delta q, v) \ominus f(q, v) = J_q(q, v) |
| 480 |
|
|
* \delta q + o(\delta q)\f$. |
| 481 |
|
|
* - Jacobian relative to v: \f$ f(q, v + \delta v) \ominus f(q, v) = J_v(q, v) \delta v |
| 482 |
|
|
* + o(\delta v)\f$. |
| 483 |
|
|
* |
| 484 |
|
|
* @param[in] model Model of the kinematic tree on which the integration operation is |
| 485 |
|
|
* performed. |
| 486 |
|
|
* @param[in] q Initial configuration (size model.nq) |
| 487 |
|
|
* @param[in] v Joint velocity (size model.nv) |
| 488 |
|
|
* @param[out] J Jacobian of the Integrate operation, either with respect to q or v |
| 489 |
|
|
* (size model.nv x model.nv). |
| 490 |
|
|
* @param[in] arg Argument (either q or v) with respect to which the differentiation is |
| 491 |
|
|
* performed. |
| 492 |
|
|
* |
| 493 |
|
|
*/ |
| 494 |
|
|
template< |
| 495 |
|
|
typename Scalar, |
| 496 |
|
|
int Options, |
| 497 |
|
|
template<typename, int> |
| 498 |
|
|
class JointCollectionTpl, |
| 499 |
|
|
typename ConfigVectorType, |
| 500 |
|
|
typename TangentVectorType, |
| 501 |
|
|
typename JacobianMatrixType> |
| 502 |
|
14 |
void dIntegrate( |
| 503 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 504 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q, |
| 505 |
|
|
const Eigen::MatrixBase<TangentVectorType> & v, |
| 506 |
|
|
const Eigen::MatrixBase<JacobianMatrixType> & J, |
| 507 |
|
|
const ArgumentPosition arg, |
| 508 |
|
|
const AssignmentOperatorType op) |
| 509 |
|
|
{ |
| 510 |
|
|
dIntegrate< |
| 511 |
|
|
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType, |
| 512 |
|
14 |
JacobianMatrixType>( |
| 513 |
|
14 |
model, q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType, J), arg, op); |
| 514 |
|
14 |
} |
| 515 |
|
|
|
| 516 |
|
|
/** |
| 517 |
|
|
* |
| 518 |
|
|
* @brief Transport a matrix from the terminal to the initial tangent space of the integrate |
| 519 |
|
|
* operation, with respect to the configuration or the velocity arguments. |
| 520 |
|
|
* |
| 521 |
|
|
* @details This function performs the parallel transportation of an input matrix whose columns |
| 522 |
|
|
* are expressed in the tangent space of the integrated element \f$ q \oplus v \f$, to the tangent |
| 523 |
|
|
* space at \f$ q \f$. In other words, this functions transforms a tangent vector expressed at \f$ |
| 524 |
|
|
* q \oplus v \f$ to a tangent vector expressed at \f$ q \f$, considering that the change of |
| 525 |
|
|
* configuration between \f$ q \oplus v \f$ and \f$ q \f$ may alter the value of this tangent |
| 526 |
|
|
* vector. A typical example of parallel transportation is the action operated by a rigid |
| 527 |
|
|
* transformation \f$ M \in \text{SE}(3)\f$ on a spatial velocity \f$ v \in \text{se}(3)\f$. In |
| 528 |
|
|
* the context of configuration spaces assimilated to vector spaces, this operation corresponds |
| 529 |
|
|
* to Identity. For Lie groups, its corresponds to the canonical vector field transportation. |
| 530 |
|
|
* |
| 531 |
|
|
* @param[in] model Model of the kinematic tree on which the integration operation is |
| 532 |
|
|
* performed. |
| 533 |
|
|
* @param[in] q Initial configuration (size model.nq) |
| 534 |
|
|
* @param[in] v Joint velocity (size model.nv) |
| 535 |
|
|
* @param[out] Jin Input matrix (number of rows = model.nv). |
| 536 |
|
|
* @param[out] Jout Output matrix (same size as Jin). |
| 537 |
|
|
* @param[in] arg Argument (either ARG0 for q or ARG1 for v) with respect to which the |
| 538 |
|
|
* differentation is performed. |
| 539 |
|
|
* |
| 540 |
|
|
*/ |
| 541 |
|
|
template< |
| 542 |
|
|
typename LieGroup_t, |
| 543 |
|
|
typename Scalar, |
| 544 |
|
|
int Options, |
| 545 |
|
|
template<typename, int> |
| 546 |
|
|
class JointCollectionTpl, |
| 547 |
|
|
typename ConfigVectorType, |
| 548 |
|
|
typename TangentVectorType, |
| 549 |
|
|
typename JacobianMatrixType1, |
| 550 |
|
|
typename JacobianMatrixType2> |
| 551 |
|
|
void dIntegrateTransport( |
| 552 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 553 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q, |
| 554 |
|
|
const Eigen::MatrixBase<TangentVectorType> & v, |
| 555 |
|
|
const Eigen::MatrixBase<JacobianMatrixType1> & Jin, |
| 556 |
|
|
const Eigen::MatrixBase<JacobianMatrixType2> & Jout, |
| 557 |
|
|
const ArgumentPosition arg); |
| 558 |
|
|
|
| 559 |
|
|
/** |
| 560 |
|
|
* |
| 561 |
|
|
* @brief Transport a matrix from the terminal to the initial tangent space of the integrate |
| 562 |
|
|
* operation, with respect to the configuration or the velocity arguments. |
| 563 |
|
|
* |
| 564 |
|
|
* @details This function performs the parallel transportation of an input matrix whose columns |
| 565 |
|
|
* are expressed in the tangent space of the integrated element \f$ q \oplus v \f$, to the tangent |
| 566 |
|
|
* space at \f$ q \f$. In other words, this functions transforms a tangent vector expressed at \f$ |
| 567 |
|
|
* q \oplus v \f$ to a tangent vector expressed at \f$ q \f$, considering that the change of |
| 568 |
|
|
* configuration between \f$ q \oplus v \f$ and \f$ q \f$ may alter the value of this tangent |
| 569 |
|
|
* vector. A typical example of parallel transportation is the action operated by a rigid |
| 570 |
|
|
* transformation \f$ M \in \text{SE}(3)\f$ on a spatial velocity \f$ v \in \text{se}(3)\f$. In |
| 571 |
|
|
* the context of configuration spaces assimilated to vector spaces, this operation corresponds |
| 572 |
|
|
* to Identity. For Lie groups, its corresponds to the canonical vector field transportation. |
| 573 |
|
|
* |
| 574 |
|
|
* @param[in] model Model of the kinematic tree on which the integration operation is |
| 575 |
|
|
* performed. |
| 576 |
|
|
* @param[in] q Initial configuration (size model.nq) |
| 577 |
|
|
* @param[in] v Joint velocity (size model.nv) |
| 578 |
|
|
* @param[out] Jin Input matrix (number of rows = model.nv). |
| 579 |
|
|
* @param[out] Jout Output matrix (same size as Jin). |
| 580 |
|
|
* @param[in] arg Argument (either ARG0 for q or ARG1 for v) with respect to which the |
| 581 |
|
|
* differentation is performed. |
| 582 |
|
|
* |
| 583 |
|
|
*/ |
| 584 |
|
|
template< |
| 585 |
|
|
typename Scalar, |
| 586 |
|
|
int Options, |
| 587 |
|
|
template<typename, int> |
| 588 |
|
|
class JointCollectionTpl, |
| 589 |
|
|
typename ConfigVectorType, |
| 590 |
|
|
typename TangentVectorType, |
| 591 |
|
|
typename JacobianMatrixType1, |
| 592 |
|
|
typename JacobianMatrixType2> |
| 593 |
|
2 |
void dIntegrateTransport( |
| 594 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 595 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q, |
| 596 |
|
|
const Eigen::MatrixBase<TangentVectorType> & v, |
| 597 |
|
|
const Eigen::MatrixBase<JacobianMatrixType1> & Jin, |
| 598 |
|
|
const Eigen::MatrixBase<JacobianMatrixType2> & Jout, |
| 599 |
|
|
const ArgumentPosition arg) |
| 600 |
|
|
{ |
| 601 |
|
|
dIntegrateTransport< |
| 602 |
|
|
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType, |
| 603 |
|
2 |
JacobianMatrixType1, JacobianMatrixType2>( |
| 604 |
|
2 |
model, q.derived(), v.derived(), Jin.derived(), |
| 605 |
|
2 |
PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType2, Jout), arg); |
| 606 |
|
2 |
} |
| 607 |
|
|
|
| 608 |
|
|
/** |
| 609 |
|
|
* |
| 610 |
|
|
* @brief Transport in place a matrix from the terminal to the initial tangent space of the |
| 611 |
|
|
* integrate operation, with respect to the configuration or the velocity arguments. |
| 612 |
|
|
* |
| 613 |
|
|
* @details This function performs the parallel transportation of an input matrix whose columns |
| 614 |
|
|
* are expressed in the tangent space of the integrated element \f$ q \oplus v \f$, to the tangent |
| 615 |
|
|
* space at \f$ q \f$. In other words, this functions transforms a tangent vector expressed at \f$ |
| 616 |
|
|
* q \oplus v \f$ to a tangent vector expressed at \f$ q \f$, considering that the change of |
| 617 |
|
|
* configuration between \f$ q \oplus v \f$ and \f$ q \f$ may alter the value of this tangent |
| 618 |
|
|
* vector. A typical example of parallel transportation is the action operated by a rigid |
| 619 |
|
|
* transformation \f$ M \in \text{SE}(3)\f$ on a spatial velocity \f$ v \in \text{se}(3)\f$. In |
| 620 |
|
|
* the context of configuration spaces assimilated to vector spaces, this operation corresponds |
| 621 |
|
|
* to Identity. For Lie groups, its corresponds to the canonical vector field transportation. |
| 622 |
|
|
* |
| 623 |
|
|
* @param[in] model Model of the kinematic tree on which the integration operation is |
| 624 |
|
|
* performed. |
| 625 |
|
|
* @param[in] q Initial configuration (size model.nq) |
| 626 |
|
|
* @param[in] v Joint velocity (size model.nv) |
| 627 |
|
|
* @param[in,out] J Input/output matrix (number of rows = model.nv). |
| 628 |
|
|
* @param[in] arg Argument (either ARG0 for q or ARG1 for v) with respect to which the |
| 629 |
|
|
* differentation is performed. |
| 630 |
|
|
* |
| 631 |
|
|
*/ |
| 632 |
|
|
template< |
| 633 |
|
|
typename LieGroup_t, |
| 634 |
|
|
typename Scalar, |
| 635 |
|
|
int Options, |
| 636 |
|
|
template<typename, int> |
| 637 |
|
|
class JointCollectionTpl, |
| 638 |
|
|
typename ConfigVectorType, |
| 639 |
|
|
typename TangentVectorType, |
| 640 |
|
|
typename JacobianMatrixType> |
| 641 |
|
|
void dIntegrateTransport( |
| 642 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 643 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q, |
| 644 |
|
|
const Eigen::MatrixBase<TangentVectorType> & v, |
| 645 |
|
|
const Eigen::MatrixBase<JacobianMatrixType> & J, |
| 646 |
|
|
const ArgumentPosition arg); |
| 647 |
|
|
|
| 648 |
|
|
/** |
| 649 |
|
|
* |
| 650 |
|
|
* @brief Transport in place a matrix from the terminal to the initial tangent space of the |
| 651 |
|
|
* integrate operation, with respect to the configuration or the velocity arguments. |
| 652 |
|
|
* |
| 653 |
|
|
* @details This function performs the parallel transportation of an input matrix whose columns |
| 654 |
|
|
* are expressed in the tangent space of the integrated element \f$ q \oplus v \f$, to the tangent |
| 655 |
|
|
* space at \f$ q \f$. In other words, this functions transforms a tangent vector expressed at \f$ |
| 656 |
|
|
* q \oplus v \f$ to a tangent vector expressed at \f$ q \f$, considering that the change of |
| 657 |
|
|
* configuration between \f$ q \oplus v \f$ and \f$ q \f$ may alter the value of this tangent |
| 658 |
|
|
* vector. A typical example of parallel transportation is the action operated by a rigid |
| 659 |
|
|
* transformation \f$ M \in \text{SE}(3)\f$ on a spatial velocity \f$ v \in \text{se}(3)\f$. In |
| 660 |
|
|
* the context of configuration spaces assimilated to vector spaces, this operation corresponds |
| 661 |
|
|
* to Identity. For Lie groups, its corresponds to the canonical vector field transportation. |
| 662 |
|
|
* |
| 663 |
|
|
* @param[in] model Model of the kinematic tree on which the integration operation is |
| 664 |
|
|
* performed. |
| 665 |
|
|
* @param[in] q Initial configuration (size model.nq) |
| 666 |
|
|
* @param[in] v Joint velocity (size model.nv) |
| 667 |
|
|
* @param[in,out] J Input/output matrix (number of rows = model.nv). |
| 668 |
|
|
* @param[in] arg Argument (either ARG0 for q or ARG1 for v) with respect to which the |
| 669 |
|
|
* differentation is performed. |
| 670 |
|
|
* |
| 671 |
|
|
*/ |
| 672 |
|
|
template< |
| 673 |
|
|
typename Scalar, |
| 674 |
|
|
int Options, |
| 675 |
|
|
template<typename, int> |
| 676 |
|
|
class JointCollectionTpl, |
| 677 |
|
|
typename ConfigVectorType, |
| 678 |
|
|
typename TangentVectorType, |
| 679 |
|
|
typename JacobianMatrixType> |
| 680 |
|
✗ |
void dIntegrateTransport( |
| 681 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 682 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q, |
| 683 |
|
|
const Eigen::MatrixBase<TangentVectorType> & v, |
| 684 |
|
|
const Eigen::MatrixBase<JacobianMatrixType> & J, |
| 685 |
|
|
const ArgumentPosition arg) |
| 686 |
|
|
{ |
| 687 |
|
|
dIntegrateTransport< |
| 688 |
|
|
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType, |
| 689 |
|
✗ |
JacobianMatrixType>( |
| 690 |
|
✗ |
model, q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType, J), arg); |
| 691 |
|
|
} |
| 692 |
|
|
|
| 693 |
|
|
/** |
| 694 |
|
|
* |
| 695 |
|
|
* @brief Computes the Jacobian of a small variation of the configuration vector into the |
| 696 |
|
|
* tangent space at identity. |
| 697 |
|
|
* |
| 698 |
|
|
* @details This jacobian has to be interpreted in terms of Lie group, not vector space: as such, |
| 699 |
|
|
* it is expressed in the tangent space only, not the configuration space. |
| 700 |
|
|
* Calling \f$ d(q0, q1) \f$ the difference function, these jacobians satisfy the |
| 701 |
|
|
* following relationships in the tangent space: |
| 702 |
|
|
* - Jacobian relative to q0: \f$ d(q_0 \oplus \delta q_0, q_1) \ominus d(q_0, q_1) = |
| 703 |
|
|
* J_{q_0} \delta q_0 + o(\| \delta q_0 \|)\f$. |
| 704 |
|
|
* - Jacobian relative to q1: \f$ d(q_0, q_1 \oplus \delta q_1) \ominus d(q_0, q_1) = |
| 705 |
|
|
* J_{q_1} \delta q_1 + o(\| \delta q_1 \|)\f$. |
| 706 |
|
|
* |
| 707 |
|
|
* @param[in] model Model of the kinematic tree on which the difference operation is performed. |
| 708 |
|
|
* @param[in] q0 Initial configuration (size model.nq) |
| 709 |
|
|
* @param[in] q1 Joint velocity (size model.nv) |
| 710 |
|
|
* @param[out] J Jacobian of the Difference operation, either with respect to q0 or q1 |
| 711 |
|
|
* (size model.nv x model.nv). |
| 712 |
|
|
* @param[in] arg Argument (either q0 or q1) with respect to which the differentiation is |
| 713 |
|
|
* performed. |
| 714 |
|
|
* |
| 715 |
|
|
*/ |
| 716 |
|
|
template< |
| 717 |
|
|
typename LieGroup_t, |
| 718 |
|
|
typename Scalar, |
| 719 |
|
|
int Options, |
| 720 |
|
|
template<typename, int> |
| 721 |
|
|
class JointCollectionTpl, |
| 722 |
|
|
typename ConfigVector1, |
| 723 |
|
|
typename ConfigVector2, |
| 724 |
|
|
typename JacobianMatrix> |
| 725 |
|
|
void dDifference( |
| 726 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 727 |
|
|
const Eigen::MatrixBase<ConfigVector1> & q0, |
| 728 |
|
|
const Eigen::MatrixBase<ConfigVector2> & q1, |
| 729 |
|
|
const Eigen::MatrixBase<JacobianMatrix> & J, |
| 730 |
|
|
const ArgumentPosition arg); |
| 731 |
|
|
|
| 732 |
|
|
/** |
| 733 |
|
|
* |
| 734 |
|
|
* @brief Computes the Jacobian of a small variation of the configuration vector into the |
| 735 |
|
|
* tangent space at identity. |
| 736 |
|
|
* |
| 737 |
|
|
* @details This jacobian has to be interpreted in terms of Lie group, not vector space: as such, |
| 738 |
|
|
* it is expressed in the tangent space only, not the configuration space. |
| 739 |
|
|
* Calling \f$ d(q0, q1) \f$ the difference function, these jacobians satisfy the |
| 740 |
|
|
* following relationships in the tangent space: |
| 741 |
|
|
* - Jacobian relative to q0: \f$ d(q_0 \oplus \delta q_0, q_1) \ominus d(q_0, q_1) = |
| 742 |
|
|
* J_{q_0} \delta q_0 + o(\| \delta q_0 \|)\f$. |
| 743 |
|
|
* - Jacobian relative to q1: \f$ d(q_0, q_1 \oplus \delta q_1) \ominus d(q_0, q_1) = |
| 744 |
|
|
* J_{q_1} \delta q_1 + o(\| \delta q_1 \|)\f$. |
| 745 |
|
|
* |
| 746 |
|
|
* @param[in] model Model of the kinematic tree on which the difference operation is performed. |
| 747 |
|
|
* @param[in] q0 Initial configuration (size model.nq) |
| 748 |
|
|
* @param[in] q1 Joint velocity (size model.nv) |
| 749 |
|
|
* @param[out] J Jacobian of the Difference operation, either with respect to q0 or q1 |
| 750 |
|
|
* (size model.nv x model.nv). |
| 751 |
|
|
* @param[in] arg Argument (either q0 or q1) with respect to which the differentiation is |
| 752 |
|
|
* performed. |
| 753 |
|
|
* |
| 754 |
|
|
*/ |
| 755 |
|
|
template< |
| 756 |
|
|
typename Scalar, |
| 757 |
|
|
int Options, |
| 758 |
|
|
template<typename, int> |
| 759 |
|
|
class JointCollectionTpl, |
| 760 |
|
|
typename ConfigVector1, |
| 761 |
|
|
typename ConfigVector2, |
| 762 |
|
|
typename JacobianMatrix> |
| 763 |
|
6 |
void dDifference( |
| 764 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 765 |
|
|
const Eigen::MatrixBase<ConfigVector1> & q0, |
| 766 |
|
|
const Eigen::MatrixBase<ConfigVector2> & q1, |
| 767 |
|
|
const Eigen::MatrixBase<JacobianMatrix> & J, |
| 768 |
|
|
const ArgumentPosition arg) |
| 769 |
|
|
{ |
| 770 |
|
|
dDifference< |
| 771 |
|
|
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVector1, ConfigVector2, |
| 772 |
|
6 |
JacobianMatrix>( |
| 773 |
|
6 |
model, q0.derived(), q1.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrix, J), arg); |
| 774 |
|
6 |
} |
| 775 |
|
|
/** |
| 776 |
|
|
* |
| 777 |
|
|
* @brief Overall squared distance between two configuration vectors |
| 778 |
|
|
* |
| 779 |
|
|
* @param[in] model Model we want to compute the distance |
| 780 |
|
|
* @param[in] q0 Configuration 0 (size model.nq) |
| 781 |
|
|
* @param[in] q1 Configuration 1 (size model.nq) |
| 782 |
|
|
* |
| 783 |
|
|
* @return The squared distance between the two configurations |
| 784 |
|
|
* |
| 785 |
|
|
*/ |
| 786 |
|
|
template< |
| 787 |
|
|
typename LieGroup_t, |
| 788 |
|
|
typename Scalar, |
| 789 |
|
|
int Options, |
| 790 |
|
|
template<typename, int> |
| 791 |
|
|
class JointCollectionTpl, |
| 792 |
|
|
typename ConfigVectorIn1, |
| 793 |
|
|
typename ConfigVectorIn2> |
| 794 |
|
|
Scalar squaredDistanceSum( |
| 795 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 796 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
| 797 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & q1); |
| 798 |
|
|
|
| 799 |
|
|
/** |
| 800 |
|
|
* |
| 801 |
|
|
* @brief Overall squared distance between two configuration vectors, namely \f$ || q_{1} |
| 802 |
|
|
* \ominus q_{0} ||_2^{2} \f$. |
| 803 |
|
|
* |
| 804 |
|
|
* @param[in] model Model of the kinematic tree |
| 805 |
|
|
* @param[in] q0 Configuration from (size model.nq) |
| 806 |
|
|
* @param[in] q1 Configuration to (size model.nq) |
| 807 |
|
|
* |
| 808 |
|
|
* @return The squared distance between the two configurations q0 and q1. |
| 809 |
|
|
* |
| 810 |
|
|
*/ |
| 811 |
|
|
template< |
| 812 |
|
|
typename Scalar, |
| 813 |
|
|
int Options, |
| 814 |
|
|
template<typename, int> |
| 815 |
|
|
class JointCollectionTpl, |
| 816 |
|
|
typename ConfigVectorIn1, |
| 817 |
|
|
typename ConfigVectorIn2> |
| 818 |
|
✗ |
Scalar squaredDistanceSum( |
| 819 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 820 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
| 821 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & q1) |
| 822 |
|
|
{ |
| 823 |
|
|
return squaredDistanceSum< |
| 824 |
|
✗ |
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorIn1, ConfigVectorIn2>( |
| 825 |
|
✗ |
model, q0.derived(), q1.derived()); |
| 826 |
|
|
} |
| 827 |
|
|
|
| 828 |
|
|
/** |
| 829 |
|
|
* |
| 830 |
|
|
* @brief Distance between two configuration vectors, namely \f$ || q_{1} \ominus q_{0} ||_2 |
| 831 |
|
|
* \f$. |
| 832 |
|
|
* |
| 833 |
|
|
* @param[in] model Model we want to compute the distance |
| 834 |
|
|
* @param[in] q0 Configuration 0 (size model.nq) |
| 835 |
|
|
* @param[in] q1 Configuration 1 (size model.nq) |
| 836 |
|
|
* |
| 837 |
|
|
* @return The distance between the two configurations q0 and q1. |
| 838 |
|
|
* |
| 839 |
|
|
*/ |
| 840 |
|
|
template< |
| 841 |
|
|
typename LieGroup_t, |
| 842 |
|
|
typename Scalar, |
| 843 |
|
|
int Options, |
| 844 |
|
|
template<typename, int> |
| 845 |
|
|
class JointCollectionTpl, |
| 846 |
|
|
typename ConfigVectorIn1, |
| 847 |
|
|
typename ConfigVectorIn2> |
| 848 |
|
|
Scalar distance( |
| 849 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 850 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
| 851 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & q1); |
| 852 |
|
|
|
| 853 |
|
|
/** |
| 854 |
|
|
* |
| 855 |
|
|
* @brief Distance between two configuration vectors |
| 856 |
|
|
* |
| 857 |
|
|
* @param[in] model Model we want to compute the distance |
| 858 |
|
|
* @param[in] q0 Configuration 0 (size model.nq) |
| 859 |
|
|
* @param[in] q1 Configuration 1 (size model.nq) |
| 860 |
|
|
* |
| 861 |
|
|
* @return The distance between the two configurations q0 and q1. |
| 862 |
|
|
* |
| 863 |
|
|
*/ |
| 864 |
|
|
template< |
| 865 |
|
|
typename Scalar, |
| 866 |
|
|
int Options, |
| 867 |
|
|
template<typename, int> |
| 868 |
|
|
class JointCollectionTpl, |
| 869 |
|
|
typename ConfigVectorIn1, |
| 870 |
|
|
typename ConfigVectorIn2> |
| 871 |
|
2 |
Scalar distance( |
| 872 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 873 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
| 874 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & q1) |
| 875 |
|
|
{ |
| 876 |
|
|
return distance< |
| 877 |
|
2 |
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorIn1, ConfigVectorIn2>( |
| 878 |
|
4 |
model, q0.derived(), q1.derived()); |
| 879 |
|
|
} |
| 880 |
|
|
|
| 881 |
|
|
/** |
| 882 |
|
|
* |
| 883 |
|
|
* @brief Normalize a configuration vector. |
| 884 |
|
|
* |
| 885 |
|
|
* @param[in] model Model of the kinematic tree. |
| 886 |
|
|
* @param[in,out] q Configuration to normalize (size model.nq). |
| 887 |
|
|
* |
| 888 |
|
|
*/ |
| 889 |
|
|
template< |
| 890 |
|
|
typename LieGroup_t, |
| 891 |
|
|
typename Scalar, |
| 892 |
|
|
int Options, |
| 893 |
|
|
template<typename, int> |
| 894 |
|
|
class JointCollectionTpl, |
| 895 |
|
|
typename ConfigVectorType> |
| 896 |
|
|
void normalize( |
| 897 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 898 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & qout); |
| 899 |
|
|
|
| 900 |
|
|
/** |
| 901 |
|
|
* |
| 902 |
|
|
* @brief Normalize a configuration vector. |
| 903 |
|
|
* |
| 904 |
|
|
* @param[in] model Model of the kinematic tree. |
| 905 |
|
|
* @param[in,out] q Configuration to normalize (size model.nq). |
| 906 |
|
|
* |
| 907 |
|
|
*/ |
| 908 |
|
|
template< |
| 909 |
|
|
typename Scalar, |
| 910 |
|
|
int Options, |
| 911 |
|
|
template<typename, int> |
| 912 |
|
|
class JointCollectionTpl, |
| 913 |
|
|
typename ConfigVectorType> |
| 914 |
|
11 |
void normalize( |
| 915 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 916 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & qout) |
| 917 |
|
|
{ |
| 918 |
|
11 |
normalize<LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorType>( |
| 919 |
|
11 |
model, PINOCCHIO_EIGEN_CONST_CAST(ConfigVectorType, qout)); |
| 920 |
|
11 |
} |
| 921 |
|
|
|
| 922 |
|
|
/** |
| 923 |
|
|
* |
| 924 |
|
|
* @brief Check whether a configuration vector is normalized within the given precision |
| 925 |
|
|
* provided by prec. |
| 926 |
|
|
* |
| 927 |
|
|
* @param[in] model Model of the kinematic tree. |
| 928 |
|
|
* @param[in] q Configuration to check (size model.nq). |
| 929 |
|
|
* @param[in] prec Precision. |
| 930 |
|
|
* |
| 931 |
|
|
* @return Whether the configuration is normalized or not, within the given precision. |
| 932 |
|
|
*/ |
| 933 |
|
|
template< |
| 934 |
|
|
typename LieGroup_t, |
| 935 |
|
|
typename Scalar, |
| 936 |
|
|
int Options, |
| 937 |
|
|
template<typename, int> |
| 938 |
|
|
class JointCollectionTpl, |
| 939 |
|
|
typename ConfigVectorType> |
| 940 |
|
|
bool isNormalized( |
| 941 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 942 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q, |
| 943 |
|
|
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()); |
| 944 |
|
|
|
| 945 |
|
|
/** |
| 946 |
|
|
* |
| 947 |
|
|
* @brief Check whether a configuration vector is normalized within the given precision |
| 948 |
|
|
* provided by prec. |
| 949 |
|
|
* |
| 950 |
|
|
* @param[in] model Model of the kinematic tree. |
| 951 |
|
|
* @param[in] q Configuration to check (size model.nq). |
| 952 |
|
|
* @param[in] prec Precision. |
| 953 |
|
|
* |
| 954 |
|
|
* @return Whether the configuration is normalized or not, within the given precision. |
| 955 |
|
|
*/ |
| 956 |
|
|
template< |
| 957 |
|
|
typename Scalar, |
| 958 |
|
|
int Options, |
| 959 |
|
|
template<typename, int> |
| 960 |
|
|
class JointCollectionTpl, |
| 961 |
|
|
typename ConfigVectorType> |
| 962 |
|
9 |
bool isNormalized( |
| 963 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 964 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q, |
| 965 |
|
|
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) |
| 966 |
|
|
{ |
| 967 |
|
9 |
return isNormalized<LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorType>( |
| 968 |
|
9 |
model, q, prec); |
| 969 |
|
|
} |
| 970 |
|
|
|
| 971 |
|
|
/** |
| 972 |
|
|
* |
| 973 |
|
|
* @brief Return true if the given configurations are equivalents, within the given |
| 974 |
|
|
* precision. |
| 975 |
|
|
* @remarks Two configurations can be equivalent but not equally coefficient wise (e.g two |
| 976 |
|
|
* quaternions with opposite coefficients give rise to the same orientation, i.e. they are |
| 977 |
|
|
* equivalent.). |
| 978 |
|
|
* |
| 979 |
|
|
* @param[in] model Model of the kinematic tree. |
| 980 |
|
|
* @param[in] q1 The first configuraiton to compare. |
| 981 |
|
|
* @param[in] q2 The second configuration to compare. |
| 982 |
|
|
* @param[in] prec precision of the comparison. |
| 983 |
|
|
* |
| 984 |
|
|
* @return Whether the configurations are equivalent or not, within the given precision. |
| 985 |
|
|
* |
| 986 |
|
|
*/ |
| 987 |
|
|
template< |
| 988 |
|
|
typename LieGroup_t, |
| 989 |
|
|
typename Scalar, |
| 990 |
|
|
int Options, |
| 991 |
|
|
template<typename, int> |
| 992 |
|
|
class JointCollectionTpl, |
| 993 |
|
|
typename ConfigVectorIn1, |
| 994 |
|
|
typename ConfigVectorIn2> |
| 995 |
|
|
bool isSameConfiguration( |
| 996 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 997 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & q1, |
| 998 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & q2, |
| 999 |
|
|
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()); |
| 1000 |
|
|
|
| 1001 |
|
|
/** |
| 1002 |
|
|
* |
| 1003 |
|
|
* @brief Return true if the given configurations are equivalents, within the given |
| 1004 |
|
|
* precision. |
| 1005 |
|
|
* @remarks Two configurations can be equivalent but not equally coefficient wise (e.g two |
| 1006 |
|
|
* quaternions with opposite coefficients give rise to the same orientation, i.e. they are |
| 1007 |
|
|
* equivalent.). |
| 1008 |
|
|
* |
| 1009 |
|
|
* @param[in] model Model of the kinematic tree. |
| 1010 |
|
|
* @param[in] q1 The first configuraiton to compare |
| 1011 |
|
|
* @param[in] q2 The second configuration to compare |
| 1012 |
|
|
* @param[in] prec precision of the comparison. |
| 1013 |
|
|
* |
| 1014 |
|
|
* @return Whether the configurations are equivalent or not |
| 1015 |
|
|
* |
| 1016 |
|
|
*/ |
| 1017 |
|
|
template< |
| 1018 |
|
|
typename Scalar, |
| 1019 |
|
|
int Options, |
| 1020 |
|
|
template<typename, int> |
| 1021 |
|
|
class JointCollectionTpl, |
| 1022 |
|
|
typename ConfigVectorIn1, |
| 1023 |
|
|
typename ConfigVectorIn2> |
| 1024 |
|
3 |
bool isSameConfiguration( |
| 1025 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 1026 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & q1, |
| 1027 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & q2, |
| 1028 |
|
|
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) |
| 1029 |
|
|
{ |
| 1030 |
|
|
return isSameConfiguration< |
| 1031 |
|
3 |
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorIn1, ConfigVectorIn2>( |
| 1032 |
|
6 |
model, q1.derived(), q2.derived(), prec); |
| 1033 |
|
|
} |
| 1034 |
|
|
|
| 1035 |
|
|
/** |
| 1036 |
|
|
* |
| 1037 |
|
|
* @brief Return the Jacobian of the integrate function for the components of the config |
| 1038 |
|
|
* vector. |
| 1039 |
|
|
* |
| 1040 |
|
|
* @param[in] model Model of the kinematic tree. |
| 1041 |
|
|
* @param[out] jacobian The Jacobian of the integrate operation. |
| 1042 |
|
|
* |
| 1043 |
|
|
* @details This function is often required for the numerical solvers that are working on |
| 1044 |
|
|
* the tangent of the configuration space, instead of the configuration space itself. |
| 1045 |
|
|
* |
| 1046 |
|
|
*/ |
| 1047 |
|
|
template< |
| 1048 |
|
|
typename LieGroup_t, |
| 1049 |
|
|
typename Scalar, |
| 1050 |
|
|
int Options, |
| 1051 |
|
|
template<typename, int> |
| 1052 |
|
|
class JointCollectionTpl, |
| 1053 |
|
|
typename ConfigVector, |
| 1054 |
|
|
typename JacobianMatrix> |
| 1055 |
|
|
void integrateCoeffWiseJacobian( |
| 1056 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 1057 |
|
|
const Eigen::MatrixBase<ConfigVector> & q, |
| 1058 |
|
|
const Eigen::MatrixBase<JacobianMatrix> & jacobian); |
| 1059 |
|
|
|
| 1060 |
|
|
/** |
| 1061 |
|
|
* |
| 1062 |
|
|
* @brief Return the Jacobian of the integrate function for the components of the config |
| 1063 |
|
|
* vector. |
| 1064 |
|
|
* |
| 1065 |
|
|
* @param[in] model Model of the kinematic tree. |
| 1066 |
|
|
* @param[out] jacobian The Jacobian of the integrate operation. |
| 1067 |
|
|
* |
| 1068 |
|
|
* @details This function is often required for the numerical solvers that are working on |
| 1069 |
|
|
* the tangent of the configuration space, instead of the configuration space itself. |
| 1070 |
|
|
* |
| 1071 |
|
|
*/ |
| 1072 |
|
|
template< |
| 1073 |
|
|
typename Scalar, |
| 1074 |
|
|
int Options, |
| 1075 |
|
|
template<typename, int> |
| 1076 |
|
|
class JointCollectionTpl, |
| 1077 |
|
|
typename ConfigVector, |
| 1078 |
|
|
typename JacobianMatrix> |
| 1079 |
|
1 |
void integrateCoeffWiseJacobian( |
| 1080 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 1081 |
|
|
const Eigen::MatrixBase<ConfigVector> & q, |
| 1082 |
|
|
const Eigen::MatrixBase<JacobianMatrix> & jacobian) |
| 1083 |
|
|
{ |
| 1084 |
|
|
integrateCoeffWiseJacobian< |
| 1085 |
|
1 |
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVector, JacobianMatrix>( |
| 1086 |
|
1 |
model, q.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrix, jacobian)); |
| 1087 |
|
1 |
} |
| 1088 |
|
|
|
| 1089 |
|
|
/// \} |
| 1090 |
|
|
|
| 1091 |
|
|
/// \name API that allocates memory |
| 1092 |
|
|
/// \{ |
| 1093 |
|
|
|
| 1094 |
|
|
/** |
| 1095 |
|
|
* |
| 1096 |
|
|
* @brief Integrate a configuration vector for the specified model for a tangent vector |
| 1097 |
|
|
* during one unit time |
| 1098 |
|
|
* |
| 1099 |
|
|
* @param[in] model Model of the kinematic tree on which the integration operation is |
| 1100 |
|
|
* performed. |
| 1101 |
|
|
* @param[in] q Initial configuration (size model.nq) |
| 1102 |
|
|
* @param[in] v Joint velocity (size model.nv) |
| 1103 |
|
|
* |
| 1104 |
|
|
* @return The integrated configuration (size model.nq) |
| 1105 |
|
|
* |
| 1106 |
|
|
*/ |
| 1107 |
|
|
template< |
| 1108 |
|
|
typename LieGroup_t, |
| 1109 |
|
|
typename Scalar, |
| 1110 |
|
|
int Options, |
| 1111 |
|
|
template<typename, int> |
| 1112 |
|
|
class JointCollectionTpl, |
| 1113 |
|
|
typename ConfigVectorType, |
| 1114 |
|
|
typename TangentVectorType> |
| 1115 |
|
|
typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorType) integrate( |
| 1116 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 1117 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q, |
| 1118 |
|
|
const Eigen::MatrixBase<TangentVectorType> & v); |
| 1119 |
|
|
|
| 1120 |
|
|
/** |
| 1121 |
|
|
* |
| 1122 |
|
|
* @brief Integrate a configuration vector for the specified model for a tangent vector |
| 1123 |
|
|
* during one unit time. |
| 1124 |
|
|
* |
| 1125 |
|
|
* @param[in] model Model of the kinematic tree on which the integration operation is |
| 1126 |
|
|
* performed. |
| 1127 |
|
|
* @param[in] q Initial configuration (size model.nq) |
| 1128 |
|
|
* @param[in] v Joint velocity (size model.nv) |
| 1129 |
|
|
* |
| 1130 |
|
|
* @return The integrated configuration (size model.nq) |
| 1131 |
|
|
* |
| 1132 |
|
|
*/ |
| 1133 |
|
|
template< |
| 1134 |
|
|
typename Scalar, |
| 1135 |
|
|
int Options, |
| 1136 |
|
|
template<typename, int> |
| 1137 |
|
|
class JointCollectionTpl, |
| 1138 |
|
|
typename ConfigVectorType, |
| 1139 |
|
|
typename TangentVectorType> |
| 1140 |
|
2954 |
typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorType) integrate( |
| 1141 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 1142 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q, |
| 1143 |
|
|
const Eigen::MatrixBase<TangentVectorType> & v) |
| 1144 |
|
|
{ |
| 1145 |
|
|
return integrate< |
| 1146 |
|
|
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType>( |
| 1147 |
|
2954 |
model, q.derived(), v.derived()); |
| 1148 |
|
|
} |
| 1149 |
|
|
|
| 1150 |
|
|
/** |
| 1151 |
|
|
* |
| 1152 |
|
|
* @brief Interpolate two configurations for a given model. |
| 1153 |
|
|
* |
| 1154 |
|
|
* @param[in] model Model of the kinematic tree on which the interpolation operation is |
| 1155 |
|
|
* performed. |
| 1156 |
|
|
* @param[in] q0 Initial configuration vector (size model.nq) |
| 1157 |
|
|
* @param[in] q1 Final configuration vector (size model.nq) |
| 1158 |
|
|
* @param[in] u u in [0;1] position along the interpolation. |
| 1159 |
|
|
* |
| 1160 |
|
|
* @return The interpolated configuration (q0 if u = 0, q1 if u = 1) |
| 1161 |
|
|
* |
| 1162 |
|
|
*/ |
| 1163 |
|
|
template< |
| 1164 |
|
|
typename LieGroup_t, |
| 1165 |
|
|
typename Scalar, |
| 1166 |
|
|
int Options, |
| 1167 |
|
|
template<typename, int> |
| 1168 |
|
|
class JointCollectionTpl, |
| 1169 |
|
|
typename ConfigVectorIn1, |
| 1170 |
|
|
typename ConfigVectorIn2> |
| 1171 |
|
|
typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) interpolate( |
| 1172 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 1173 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
| 1174 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & q1, |
| 1175 |
|
|
const Scalar & u); |
| 1176 |
|
|
|
| 1177 |
|
|
/** |
| 1178 |
|
|
* |
| 1179 |
|
|
* @brief Interpolate two configurations for a given model. |
| 1180 |
|
|
* |
| 1181 |
|
|
* @param[in] model Model of the kinematic tree on which the interpolation operation is |
| 1182 |
|
|
* performed. |
| 1183 |
|
|
* @param[in] q0 Initial configuration vector (size model.nq) |
| 1184 |
|
|
* @param[in] q1 Final configuration vector (size model.nq) |
| 1185 |
|
|
* @param[in] u u in [0;1] position along the interpolation. |
| 1186 |
|
|
* |
| 1187 |
|
|
* @return The interpolated configuration (q0 if u = 0, q1 if u = 1) |
| 1188 |
|
|
* |
| 1189 |
|
|
*/ |
| 1190 |
|
|
template< |
| 1191 |
|
|
typename Scalar, |
| 1192 |
|
|
int Options, |
| 1193 |
|
|
template<typename, int> |
| 1194 |
|
|
class JointCollectionTpl, |
| 1195 |
|
|
typename ConfigVectorIn1, |
| 1196 |
|
|
typename ConfigVectorIn2> |
| 1197 |
|
2 |
typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) interpolate( |
| 1198 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 1199 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
| 1200 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & q1, |
| 1201 |
|
|
const Scalar & u) |
| 1202 |
|
|
{ |
| 1203 |
|
|
return interpolate< |
| 1204 |
|
|
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorIn1, ConfigVectorIn2>( |
| 1205 |
|
2 |
model, q0.derived(), q1.derived(), u); |
| 1206 |
|
|
} |
| 1207 |
|
|
|
| 1208 |
|
|
/** |
| 1209 |
|
|
* |
| 1210 |
|
|
* @brief Compute the tangent vector that must be integrated during one unit time to go from |
| 1211 |
|
|
* q0 to q1 |
| 1212 |
|
|
* |
| 1213 |
|
|
* @param[in] model Model of the kinematic tree on which the difference operation is performed. |
| 1214 |
|
|
* @param[in] q0 Initial configuration (size model.nq) |
| 1215 |
|
|
* @param[in] q1 Finial configuration (size model.nq) |
| 1216 |
|
|
* |
| 1217 |
|
|
* @return The corresponding velocity (size model.nv) |
| 1218 |
|
|
* |
| 1219 |
|
|
*/ |
| 1220 |
|
|
template< |
| 1221 |
|
|
typename LieGroup_t, |
| 1222 |
|
|
typename Scalar, |
| 1223 |
|
|
int Options, |
| 1224 |
|
|
template<typename, int> |
| 1225 |
|
|
class JointCollectionTpl, |
| 1226 |
|
|
typename ConfigVectorIn1, |
| 1227 |
|
|
typename ConfigVectorIn2> |
| 1228 |
|
|
typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) difference( |
| 1229 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 1230 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
| 1231 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & q1); |
| 1232 |
|
|
|
| 1233 |
|
|
/** |
| 1234 |
|
|
* |
| 1235 |
|
|
* @brief Compute the tangent vector that must be integrated during one unit time to go from |
| 1236 |
|
|
* q0 to q1. |
| 1237 |
|
|
* |
| 1238 |
|
|
* @param[in] model Model of the kinematic tree on which the difference operation is performed. |
| 1239 |
|
|
* @param[in] q0 Initial configuration (size model.nq) |
| 1240 |
|
|
* @param[in] q1 Final configuration (size model.nq) |
| 1241 |
|
|
* |
| 1242 |
|
|
* @return The corresponding velocity (size model.nv) |
| 1243 |
|
|
* |
| 1244 |
|
|
*/ |
| 1245 |
|
|
template< |
| 1246 |
|
|
typename Scalar, |
| 1247 |
|
|
int Options, |
| 1248 |
|
|
template<typename, int> |
| 1249 |
|
|
class JointCollectionTpl, |
| 1250 |
|
|
typename ConfigVectorIn1, |
| 1251 |
|
|
typename ConfigVectorIn2> |
| 1252 |
|
125 |
typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) difference( |
| 1253 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 1254 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
| 1255 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & q1) |
| 1256 |
|
|
{ |
| 1257 |
|
|
return difference< |
| 1258 |
|
|
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorIn1, ConfigVectorIn2>( |
| 1259 |
|
125 |
model, q0.derived(), q1.derived()); |
| 1260 |
|
|
} |
| 1261 |
|
|
|
| 1262 |
|
|
/** |
| 1263 |
|
|
* |
| 1264 |
|
|
* @brief Squared distance between two configurations. |
| 1265 |
|
|
* |
| 1266 |
|
|
* @param[in] model Model of the kinematic tree on which the squared distance operation is |
| 1267 |
|
|
* performed. |
| 1268 |
|
|
* @param[in] q0 Configuration 0 (size model.nq) |
| 1269 |
|
|
* @param[in] q1 Configuration 1 (size model.nq) |
| 1270 |
|
|
* |
| 1271 |
|
|
* @return The corresponding squared distances for each joint (size model.njoints-1, |
| 1272 |
|
|
* corresponding to the number of joints) |
| 1273 |
|
|
* |
| 1274 |
|
|
*/ |
| 1275 |
|
|
template< |
| 1276 |
|
|
typename LieGroup_t, |
| 1277 |
|
|
typename Scalar, |
| 1278 |
|
|
int Options, |
| 1279 |
|
|
template<typename, int> |
| 1280 |
|
|
class JointCollectionTpl, |
| 1281 |
|
|
typename ConfigVectorIn1, |
| 1282 |
|
|
typename ConfigVectorIn2> |
| 1283 |
|
|
typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) squaredDistance( |
| 1284 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 1285 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
| 1286 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & q1); |
| 1287 |
|
|
|
| 1288 |
|
|
/** |
| 1289 |
|
|
* |
| 1290 |
|
|
* @brief Squared distance between two configuration vectors |
| 1291 |
|
|
* |
| 1292 |
|
|
* @param[in] model Model of the kinematic tree on which the squared distance operation is |
| 1293 |
|
|
* performed. |
| 1294 |
|
|
* @param[in] q0 Configuration 0 (size model.nq) |
| 1295 |
|
|
* @param[in] q1 Configuration 1 (size model.nq) |
| 1296 |
|
|
* |
| 1297 |
|
|
* @return The corresponding squared distances for each joint (size model.njoints-1, |
| 1298 |
|
|
* corresponding to the number of joints) |
| 1299 |
|
|
* |
| 1300 |
|
|
*/ |
| 1301 |
|
|
template< |
| 1302 |
|
|
typename Scalar, |
| 1303 |
|
|
int Options, |
| 1304 |
|
|
template<typename, int> |
| 1305 |
|
|
class JointCollectionTpl, |
| 1306 |
|
|
typename ConfigVectorIn1, |
| 1307 |
|
|
typename ConfigVectorIn2> |
| 1308 |
|
1 |
typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) squaredDistance( |
| 1309 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 1310 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & q0, |
| 1311 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & q1) |
| 1312 |
|
|
{ |
| 1313 |
|
|
return squaredDistance< |
| 1314 |
|
|
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorIn1, ConfigVectorIn2>( |
| 1315 |
|
1 |
model, q0.derived(), q1.derived()); |
| 1316 |
|
|
} |
| 1317 |
|
|
|
| 1318 |
|
|
/** |
| 1319 |
|
|
* |
| 1320 |
|
|
* @brief Generate a configuration vector uniformly sampled among given limits. |
| 1321 |
|
|
* |
| 1322 |
|
|
* @remarks Limits are not taken into account for rotational transformations (typically |
| 1323 |
|
|
* SO(2),SO(3)), because they are by definition unbounded. |
| 1324 |
|
|
* |
| 1325 |
|
|
* @warning If limits are infinite, exceptions may be thrown in the joint implementation of |
| 1326 |
|
|
* uniformlySample |
| 1327 |
|
|
* |
| 1328 |
|
|
* @param[in] model Model of the kinematic tree on which the uniform sampling |
| 1329 |
|
|
* operation is performed. |
| 1330 |
|
|
* @param[in] lowerLimits Joints lower limits (size model.nq). |
| 1331 |
|
|
* @param[in] upperLimits Joints upper limits (size model.nq). |
| 1332 |
|
|
* |
| 1333 |
|
|
* @return The resulting configuration vector (size model.nq). |
| 1334 |
|
|
* |
| 1335 |
|
|
*/ |
| 1336 |
|
|
template< |
| 1337 |
|
|
typename LieGroup_t, |
| 1338 |
|
|
typename Scalar, |
| 1339 |
|
|
int Options, |
| 1340 |
|
|
template<typename, int> |
| 1341 |
|
|
class JointCollectionTpl, |
| 1342 |
|
|
typename ConfigVectorIn1, |
| 1343 |
|
|
typename ConfigVectorIn2> |
| 1344 |
|
|
typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS( |
| 1345 |
|
|
(typename ModelTpl<Scalar, Options, JointCollectionTpl>::ConfigVectorType)) |
| 1346 |
|
|
randomConfiguration( |
| 1347 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 1348 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & lowerLimits, |
| 1349 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & upperLimits); |
| 1350 |
|
|
|
| 1351 |
|
|
/** |
| 1352 |
|
|
* |
| 1353 |
|
|
* @brief Generate a configuration vector uniformly sampled among provided limits. |
| 1354 |
|
|
* |
| 1355 |
|
|
* @remarks Limits are not taken into account for rotational transformations (typically |
| 1356 |
|
|
SO(2),SO(3)), because they are by definition unbounded. |
| 1357 |
|
|
* |
| 1358 |
|
|
* @warning If limits are infinite, exceptions may be thrown in the joint implementation of |
| 1359 |
|
|
uniformlySample |
| 1360 |
|
|
* |
| 1361 |
|
|
* @param[in] model Model of the kinematic tree on which the uniform sampling |
| 1362 |
|
|
operation is performed. |
| 1363 |
|
|
* @param[in] lowerLimits Joints lower limits (size model.nq). |
| 1364 |
|
|
* @param[in] upperLimits Joints upper limits (size model.nq). |
| 1365 |
|
|
* |
| 1366 |
|
|
* @return The resulting configuration vector (size model.nq) |
| 1367 |
|
|
|
| 1368 |
|
|
*/ |
| 1369 |
|
|
template< |
| 1370 |
|
|
typename Scalar, |
| 1371 |
|
|
int Options, |
| 1372 |
|
|
template<typename, int> |
| 1373 |
|
|
class JointCollectionTpl, |
| 1374 |
|
|
typename ConfigVectorIn1, |
| 1375 |
|
|
typename ConfigVectorIn2> |
| 1376 |
|
|
typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS( |
| 1377 |
|
|
(typename ModelTpl<Scalar, Options, JointCollectionTpl>::ConfigVectorType)) |
| 1378 |
|
3 |
randomConfiguration( |
| 1379 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 1380 |
|
|
const Eigen::MatrixBase<ConfigVectorIn1> & lowerLimits, |
| 1381 |
|
|
const Eigen::MatrixBase<ConfigVectorIn2> & upperLimits) |
| 1382 |
|
|
{ |
| 1383 |
|
|
return randomConfiguration< |
| 1384 |
|
|
LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorIn1, ConfigVectorIn2>( |
| 1385 |
|
3 |
model, lowerLimits.derived(), upperLimits.derived()); |
| 1386 |
|
|
} |
| 1387 |
|
|
|
| 1388 |
|
|
/** |
| 1389 |
|
|
* |
| 1390 |
|
|
* @brief Generate a configuration vector uniformly sampled among the joint limits of the |
| 1391 |
|
|
* specified Model. |
| 1392 |
|
|
* |
| 1393 |
|
|
* @remarks Limits are not taken into account for rotational transformations (typically |
| 1394 |
|
|
* SO(2),SO(3)), because they are by definition unbounded. |
| 1395 |
|
|
* |
| 1396 |
|
|
* @warning If limits are infinite (no one specified when adding a body or no modification |
| 1397 |
|
|
* directly in my_model.{lowerPositionLimit,upperPositionLimit}, exceptions may be thrown in the |
| 1398 |
|
|
* joint implementation of uniformlySample |
| 1399 |
|
|
* |
| 1400 |
|
|
* @param[in] model Model of the kinematic tree on which the uniform sampling operation is |
| 1401 |
|
|
* performed. |
| 1402 |
|
|
* |
| 1403 |
|
|
* @return The resulting configuration vector (size model.nq) |
| 1404 |
|
|
* |
| 1405 |
|
|
*/ |
| 1406 |
|
|
template< |
| 1407 |
|
|
typename LieGroup_t, |
| 1408 |
|
|
typename Scalar, |
| 1409 |
|
|
int Options, |
| 1410 |
|
|
template<typename, int> |
| 1411 |
|
|
class JointCollectionTpl> |
| 1412 |
|
|
typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS( |
| 1413 |
|
|
(typename ModelTpl<Scalar, Options, JointCollectionTpl>::ConfigVectorType)) |
| 1414 |
|
|
randomConfiguration(const ModelTpl<Scalar, Options, JointCollectionTpl> & model); |
| 1415 |
|
|
|
| 1416 |
|
|
/** |
| 1417 |
|
|
* |
| 1418 |
|
|
* @brief Generate a configuration vector uniformly sampled among the joint limits of the |
| 1419 |
|
|
* specified Model. |
| 1420 |
|
|
* |
| 1421 |
|
|
* @remarks Limits are not taken into account for rotational transformations (typically |
| 1422 |
|
|
* SO(2),SO(3)), because they are by definition unbounded. |
| 1423 |
|
|
* |
| 1424 |
|
|
* @warning If limits are infinite (no one specified when adding a body or no modification |
| 1425 |
|
|
* directly in my_model.{lowerPositionLimit,upperPositionLimit}, exceptions may be thrown in the |
| 1426 |
|
|
* joint implementation of uniformlySample |
| 1427 |
|
|
* |
| 1428 |
|
|
* @param[in] model Model of the kinematic tree on which the uniform sampling operation is |
| 1429 |
|
|
* performed. |
| 1430 |
|
|
* |
| 1431 |
|
|
* @return The resulting configuration vector (size model.nq). |
| 1432 |
|
|
* |
| 1433 |
|
|
*/ |
| 1434 |
|
|
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
| 1435 |
|
|
typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS( |
| 1436 |
|
|
(typename ModelTpl<Scalar, Options, JointCollectionTpl>::ConfigVectorType)) |
| 1437 |
|
2373 |
randomConfiguration(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) |
| 1438 |
|
|
{ |
| 1439 |
|
2373 |
return randomConfiguration<LieGroupMap, Scalar, Options, JointCollectionTpl>(model); |
| 1440 |
|
|
} |
| 1441 |
|
|
|
| 1442 |
|
|
/** |
| 1443 |
|
|
* |
| 1444 |
|
|
* @brief Return the neutral configuration element related to the model configuration |
| 1445 |
|
|
* space. |
| 1446 |
|
|
* |
| 1447 |
|
|
* @param[in] model Model of the kinematic tree on which the neutral element is computed. |
| 1448 |
|
|
* |
| 1449 |
|
|
* @return The neutral configuration element (size model.nq). |
| 1450 |
|
|
* |
| 1451 |
|
|
*/ |
| 1452 |
|
|
template< |
| 1453 |
|
|
typename LieGroup_t, |
| 1454 |
|
|
typename Scalar, |
| 1455 |
|
|
int Options, |
| 1456 |
|
|
template<typename, int> |
| 1457 |
|
|
class JointCollectionTpl> |
| 1458 |
|
|
Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> |
| 1459 |
|
|
neutral(const ModelTpl<Scalar, Options, JointCollectionTpl> & model); |
| 1460 |
|
|
|
| 1461 |
|
|
/** |
| 1462 |
|
|
* @brief Return the neutral configuration element related to the model configuration |
| 1463 |
|
|
* space. |
| 1464 |
|
|
* |
| 1465 |
|
|
* @param[in] model Model of the kinematic tree on which the neutral element is computed. |
| 1466 |
|
|
* |
| 1467 |
|
|
* @return The neutral configuration element (size model.nq). |
| 1468 |
|
|
*/ |
| 1469 |
|
|
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
| 1470 |
|
|
Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> |
| 1471 |
|
23 |
neutral(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) |
| 1472 |
|
|
{ |
| 1473 |
|
23 |
return neutral<LieGroupMap, Scalar, Options, JointCollectionTpl>(model); |
| 1474 |
|
|
} |
| 1475 |
|
|
|
| 1476 |
|
|
/// \} |
| 1477 |
|
|
|
| 1478 |
|
|
} // namespace pinocchio |
| 1479 |
|
|
|
| 1480 |
|
|
/* --- Details -------------------------------------------------------------------- */ |
| 1481 |
|
|
#include "pinocchio/algorithm/joint-configuration.hxx" |
| 1482 |
|
|
|
| 1483 |
|
|
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION |
| 1484 |
|
|
#include "pinocchio/algorithm/joint-configuration.txx" |
| 1485 |
|
|
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION |
| 1486 |
|
|
|
| 1487 |
|
|
#endif // ifndef __pinocchio_algorithm_joint_configuration_hpp__ |
| 1488 |
|
|
|