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// Copyright (c) 2016-2021 CNRS INRIA |
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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< |
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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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neutral<LieGroupMap, Scalar, Options, JointCollectionTpl, ReturnType>( |
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model, PINOCCHIO_EIGEN_CONST_CAST(ReturnType, qout)); |
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} |
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/** |
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* |
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* @brief Computes the Jacobian of a small variation of the configuration vector or the tangent |
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* vector into the tangent space at identity. |
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* |
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 |
|
|
|