| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2015-2020 CNRS INRIA |
| 3 |
|
|
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
| 4 |
|
|
// |
| 5 |
|
|
|
| 6 |
|
|
#ifndef __pinocchio_multibody_joint_data_base_hpp__ |
| 7 |
|
|
#define __pinocchio_multibody_joint_data_base_hpp__ |
| 8 |
|
|
|
| 9 |
|
|
#include "pinocchio/multibody/joint/joint-base.hpp" |
| 10 |
|
|
#include "pinocchio/multibody/joint/joint-model-base.hpp" |
| 11 |
|
|
|
| 12 |
|
|
#define PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, TYPENAME) \ |
| 13 |
|
|
PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint, TYPENAME); \ |
| 14 |
|
|
typedef TYPENAME traits<Joint>::ConfigVectorTypeConstRef ConfigVectorTypeConstRef; \ |
| 15 |
|
|
typedef TYPENAME traits<Joint>::ConfigVectorTypeRef ConfigVectorTypeRef; \ |
| 16 |
|
|
typedef TYPENAME traits<Joint>::TangentVectorTypeConstRef TangentVectorTypeConstRef; \ |
| 17 |
|
|
typedef TYPENAME traits<Joint>::TangentVectorTypeRef TangentVectorTypeRef; \ |
| 18 |
|
|
typedef TYPENAME traits<Joint>::ConstraintTypeConstRef ConstraintTypeConstRef; \ |
| 19 |
|
|
typedef TYPENAME traits<Joint>::ConstraintTypeRef ConstraintTypeRef; \ |
| 20 |
|
|
typedef TYPENAME traits<Joint>::TansformTypeConstRef TansformTypeConstRef; \ |
| 21 |
|
|
typedef TYPENAME traits<Joint>::TansformTypeRef TansformTypeRef; \ |
| 22 |
|
|
typedef TYPENAME traits<Joint>::MotionTypeConstRef MotionTypeConstRef; \ |
| 23 |
|
|
typedef TYPENAME traits<Joint>::MotionTypeRef MotionTypeRef; \ |
| 24 |
|
|
typedef TYPENAME traits<Joint>::BiasTypeConstRef BiasTypeConstRef; \ |
| 25 |
|
|
typedef TYPENAME traits<Joint>::BiasTypeRef BiasTypeRef; \ |
| 26 |
|
|
typedef TYPENAME traits<Joint>::UTypeConstRef UTypeConstRef; \ |
| 27 |
|
|
typedef TYPENAME traits<Joint>::UTypeRef UTypeRef; \ |
| 28 |
|
|
typedef TYPENAME traits<Joint>::DTypeConstRef DTypeConstRef; \ |
| 29 |
|
|
typedef TYPENAME traits<Joint>::DTypeRef DTypeRef; \ |
| 30 |
|
|
typedef TYPENAME traits<Joint>::UDTypeConstRef UDTypeConstRef; \ |
| 31 |
|
|
typedef TYPENAME traits<Joint>::UDTypeRef UDTypeRef |
| 32 |
|
|
|
| 33 |
|
|
#ifdef __clang__ |
| 34 |
|
|
|
| 35 |
|
|
#define PINOCCHIO_JOINT_DATA_TYPEDEF(Joint) \ |
| 36 |
|
|
PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, PINOCCHIO_EMPTY_ARG) |
| 37 |
|
|
#define PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(Joint) \ |
| 38 |
|
|
PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, typename) |
| 39 |
|
|
|
| 40 |
|
|
#elif (__GNUC__ == 4) && (__GNUC_MINOR__ == 4) && (__GNUC_PATCHLEVEL__ == 2) |
| 41 |
|
|
|
| 42 |
|
|
#define PINOCCHIO_JOINT_DATA_TYPEDEF(Joint) \ |
| 43 |
|
|
PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, PINOCCHIO_EMPTY_ARG) |
| 44 |
|
|
#define PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(Joint) \ |
| 45 |
|
|
PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, typename) |
| 46 |
|
|
|
| 47 |
|
|
#else |
| 48 |
|
|
|
| 49 |
|
|
#define PINOCCHIO_JOINT_DATA_TYPEDEF(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, typename) |
| 50 |
|
|
#define PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(Joint) \ |
| 51 |
|
|
PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, typename) |
| 52 |
|
|
|
| 53 |
|
|
#endif |
| 54 |
|
|
|
| 55 |
|
|
#define PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR \ |
| 56 |
|
|
ConfigVectorTypeConstRef joint_q_accessor() const \ |
| 57 |
|
|
{ \ |
| 58 |
|
|
return joint_q; \ |
| 59 |
|
|
} \ |
| 60 |
|
|
ConfigVectorTypeRef joint_q_accessor() \ |
| 61 |
|
|
{ \ |
| 62 |
|
|
return joint_q; \ |
| 63 |
|
|
} \ |
| 64 |
|
|
TangentVectorTypeConstRef joint_v_accessor() const \ |
| 65 |
|
|
{ \ |
| 66 |
|
|
return joint_v; \ |
| 67 |
|
|
} \ |
| 68 |
|
|
TangentVectorTypeRef joint_v_accessor() \ |
| 69 |
|
|
{ \ |
| 70 |
|
|
return joint_v; \ |
| 71 |
|
|
} \ |
| 72 |
|
|
ConstraintTypeConstRef S_accessor() const \ |
| 73 |
|
|
{ \ |
| 74 |
|
|
return S; \ |
| 75 |
|
|
} \ |
| 76 |
|
|
ConstraintTypeRef S_accessor() \ |
| 77 |
|
|
{ \ |
| 78 |
|
|
return S; \ |
| 79 |
|
|
} \ |
| 80 |
|
|
TansformTypeConstRef M_accessor() const \ |
| 81 |
|
|
{ \ |
| 82 |
|
|
return M; \ |
| 83 |
|
|
} \ |
| 84 |
|
|
TansformTypeRef M_accessor() \ |
| 85 |
|
|
{ \ |
| 86 |
|
|
return M; \ |
| 87 |
|
|
} \ |
| 88 |
|
|
MotionTypeConstRef v_accessor() const \ |
| 89 |
|
|
{ \ |
| 90 |
|
|
return v; \ |
| 91 |
|
|
} \ |
| 92 |
|
|
MotionTypeRef v_accessor() \ |
| 93 |
|
|
{ \ |
| 94 |
|
|
return v; \ |
| 95 |
|
|
} \ |
| 96 |
|
|
BiasTypeConstRef c_accessor() const \ |
| 97 |
|
|
{ \ |
| 98 |
|
|
return c; \ |
| 99 |
|
|
} \ |
| 100 |
|
|
BiasTypeRef c_accessor() \ |
| 101 |
|
|
{ \ |
| 102 |
|
|
return c; \ |
| 103 |
|
|
} \ |
| 104 |
|
|
UTypeConstRef U_accessor() const \ |
| 105 |
|
|
{ \ |
| 106 |
|
|
return U; \ |
| 107 |
|
|
} \ |
| 108 |
|
|
UTypeRef U_accessor() \ |
| 109 |
|
|
{ \ |
| 110 |
|
|
return U; \ |
| 111 |
|
|
} \ |
| 112 |
|
|
DTypeConstRef Dinv_accessor() const \ |
| 113 |
|
|
{ \ |
| 114 |
|
|
return Dinv; \ |
| 115 |
|
|
} \ |
| 116 |
|
|
DTypeRef Dinv_accessor() \ |
| 117 |
|
|
{ \ |
| 118 |
|
|
return Dinv; \ |
| 119 |
|
|
} \ |
| 120 |
|
|
UDTypeConstRef UDinv_accessor() const \ |
| 121 |
|
|
{ \ |
| 122 |
|
|
return UDinv; \ |
| 123 |
|
|
} \ |
| 124 |
|
|
UDTypeRef UDinv_accessor() \ |
| 125 |
|
|
{ \ |
| 126 |
|
|
return UDinv; \ |
| 127 |
|
|
} \ |
| 128 |
|
|
DTypeConstRef StU_accessor() const \ |
| 129 |
|
|
{ \ |
| 130 |
|
|
return StU; \ |
| 131 |
|
|
} \ |
| 132 |
|
|
DTypeRef StU_accessor() \ |
| 133 |
|
|
{ \ |
| 134 |
|
|
return StU; \ |
| 135 |
|
|
} |
| 136 |
|
|
|
| 137 |
|
|
#define PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE \ |
| 138 |
|
|
typedef const ConfigVector_t & ConfigVectorTypeConstRef; \ |
| 139 |
|
|
typedef ConfigVector_t & ConfigVectorTypeRef; \ |
| 140 |
|
|
typedef const TangentVector_t & TangentVectorTypeConstRef; \ |
| 141 |
|
|
typedef TangentVector_t & TangentVectorTypeRef; \ |
| 142 |
|
|
typedef const Constraint_t & ConstraintTypeConstRef; \ |
| 143 |
|
|
typedef Constraint_t & ConstraintTypeRef; \ |
| 144 |
|
|
typedef const Transformation_t & TansformTypeConstRef; \ |
| 145 |
|
|
typedef Transformation_t & TansformTypeRef; \ |
| 146 |
|
|
typedef const Motion_t & MotionTypeConstRef; \ |
| 147 |
|
|
typedef Motion_t & MotionTypeRef; \ |
| 148 |
|
|
typedef const Bias_t & BiasTypeConstRef; \ |
| 149 |
|
|
typedef Bias_t & BiasTypeRef; \ |
| 150 |
|
|
typedef const U_t & UTypeConstRef; \ |
| 151 |
|
|
typedef U_t & UTypeRef; \ |
| 152 |
|
|
typedef const D_t & DTypeConstRef; \ |
| 153 |
|
|
typedef D_t & DTypeRef; \ |
| 154 |
|
|
typedef const UD_t & UDTypeConstRef; \ |
| 155 |
|
|
typedef UD_t & UDTypeRef; |
| 156 |
|
|
|
| 157 |
|
|
namespace pinocchio |
| 158 |
|
|
{ |
| 159 |
|
|
|
| 160 |
|
|
template<typename Derived> |
| 161 |
|
|
struct JointDataBase : NumericalBase<Derived> |
| 162 |
|
|
{ |
| 163 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
| 164 |
|
|
|
| 165 |
|
|
typedef typename traits<Derived>::JointDerived JointDerived; |
| 166 |
|
|
PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived); |
| 167 |
|
|
|
| 168 |
|
2919350 |
Derived & derived() |
| 169 |
|
|
{ |
| 170 |
|
2919350 |
return *static_cast<Derived *>(this); |
| 171 |
|
|
} |
| 172 |
|
17000 |
const Derived & derived() const |
| 173 |
|
|
{ |
| 174 |
|
34000 |
return *static_cast<const Derived *>(this); |
| 175 |
|
|
} |
| 176 |
|
|
|
| 177 |
|
✗ |
ConfigVectorTypeConstRef joint_q() const |
| 178 |
|
|
{ |
| 179 |
|
✗ |
return derived().joint_q_accessor(); |
| 180 |
|
|
} |
| 181 |
|
✗ |
ConfigVectorTypeRef joint_q() |
| 182 |
|
|
{ |
| 183 |
|
✗ |
return derived().joint_q_accessor(); |
| 184 |
|
|
} |
| 185 |
|
|
|
| 186 |
|
✗ |
TangentVectorTypeConstRef joint_v() const |
| 187 |
|
|
{ |
| 188 |
|
✗ |
return derived().joint_v_accessor(); |
| 189 |
|
|
} |
| 190 |
|
7222 |
TangentVectorTypeRef joint_v() |
| 191 |
|
|
{ |
| 192 |
|
7235 |
return derived().joint_v_accessor(); |
| 193 |
|
|
} |
| 194 |
|
|
|
| 195 |
|
54 |
ConstraintTypeConstRef S() const |
| 196 |
|
|
{ |
| 197 |
|
54 |
return derived().S_accessor(); |
| 198 |
|
|
} |
| 199 |
|
181127 |
ConstraintTypeRef S() |
| 200 |
|
|
{ |
| 201 |
|
183426 |
return derived().S_accessor(); |
| 202 |
|
|
} |
| 203 |
|
27 |
TansformTypeConstRef M() const |
| 204 |
|
|
{ |
| 205 |
|
54 |
return derived().M_accessor(); |
| 206 |
|
|
} |
| 207 |
|
1126376 |
TansformTypeRef M() |
| 208 |
|
|
{ |
| 209 |
|
1126376 |
return derived().M_accessor(); |
| 210 |
|
|
} |
| 211 |
|
✗ |
MotionTypeConstRef v() const |
| 212 |
|
|
{ |
| 213 |
|
✗ |
return derived().v_accessor(); |
| 214 |
|
|
} |
| 215 |
|
275584 |
MotionTypeRef v() |
| 216 |
|
|
{ |
| 217 |
|
275584 |
return derived().v_accessor(); |
| 218 |
|
|
} |
| 219 |
|
✗ |
BiasTypeConstRef c() const |
| 220 |
|
|
{ |
| 221 |
|
✗ |
return derived().c_accessor(); |
| 222 |
|
|
} |
| 223 |
|
166766 |
BiasTypeRef c() |
| 224 |
|
|
{ |
| 225 |
|
166766 |
return derived().c_accessor(); |
| 226 |
|
|
} |
| 227 |
|
|
|
| 228 |
|
166 |
UTypeConstRef U() const |
| 229 |
|
|
{ |
| 230 |
|
166 |
return derived().U_accessor(); |
| 231 |
|
|
} |
| 232 |
|
2083 |
UTypeRef U() |
| 233 |
|
|
{ |
| 234 |
|
3046 |
return derived().U_accessor(); |
| 235 |
|
|
} |
| 236 |
|
2 |
DTypeConstRef Dinv() const |
| 237 |
|
|
{ |
| 238 |
|
4 |
return derived().Dinv_accessor(); |
| 239 |
|
|
} |
| 240 |
|
2024 |
DTypeRef Dinv() |
| 241 |
|
|
{ |
| 242 |
|
2942 |
return derived().Dinv_accessor(); |
| 243 |
|
|
} |
| 244 |
|
2 |
UDTypeConstRef UDinv() const |
| 245 |
|
|
{ |
| 246 |
|
4 |
return derived().UDinv_accessor(); |
| 247 |
|
|
} |
| 248 |
|
2435 |
UDTypeRef UDinv() |
| 249 |
|
|
{ |
| 250 |
|
3760 |
return derived().UDinv_accessor(); |
| 251 |
|
|
} |
| 252 |
|
29 |
DTypeConstRef StU() const |
| 253 |
|
|
{ |
| 254 |
|
58 |
return derived().StU_accessor(); |
| 255 |
|
|
} |
| 256 |
|
342 |
DTypeRef StU() |
| 257 |
|
|
{ |
| 258 |
|
1071 |
return derived().StU_accessor(); |
| 259 |
|
|
} |
| 260 |
|
|
|
| 261 |
|
✗ |
std::string shortname() const |
| 262 |
|
|
{ |
| 263 |
|
✗ |
return derived().shortname(); |
| 264 |
|
|
} |
| 265 |
|
✗ |
static std::string classname() |
| 266 |
|
|
{ |
| 267 |
|
✗ |
return Derived::classname(); |
| 268 |
|
|
} |
| 269 |
|
|
|
| 270 |
|
✗ |
void disp(std::ostream & os) const |
| 271 |
|
|
{ |
| 272 |
|
|
using namespace std; |
| 273 |
|
✗ |
os << shortname() << endl; |
| 274 |
|
|
} |
| 275 |
|
|
|
| 276 |
|
✗ |
friend std::ostream & operator<<(std::ostream & os, const JointDataBase<Derived> & joint) |
| 277 |
|
|
{ |
| 278 |
|
✗ |
joint.disp(os); |
| 279 |
|
✗ |
return os; |
| 280 |
|
|
} |
| 281 |
|
|
|
| 282 |
|
|
template<typename OtherDerived> |
| 283 |
|
✗ |
bool operator==(const JointDataBase<OtherDerived> & other) const |
| 284 |
|
|
{ |
| 285 |
|
✗ |
return derived().isEqual(other.derived()); |
| 286 |
|
|
} |
| 287 |
|
|
|
| 288 |
|
|
/// \brief Default operator== implementation |
| 289 |
|
✗ |
bool isEqual(const JointDataBase<Derived> & other) const |
| 290 |
|
|
{ |
| 291 |
|
✗ |
return internal::comparison_eq(joint_q(), other.joint_q()) |
| 292 |
|
✗ |
&& internal::comparison_eq(joint_v(), other.joint_v()) |
| 293 |
|
✗ |
&& internal::comparison_eq(S(), other.S()) && internal::comparison_eq(M(), other.M()) |
| 294 |
|
✗ |
&& internal::comparison_eq(v(), other.v()) && internal::comparison_eq(c(), other.c()) |
| 295 |
|
✗ |
&& internal::comparison_eq(U(), other.U()) |
| 296 |
|
✗ |
&& internal::comparison_eq(Dinv(), other.Dinv()) |
| 297 |
|
✗ |
&& internal::comparison_eq(UDinv(), other.UDinv()); |
| 298 |
|
|
} |
| 299 |
|
|
|
| 300 |
|
|
/// \brief Default operator== implementation |
| 301 |
|
|
template<typename OtherDerived> |
| 302 |
|
✗ |
bool isEqual(const JointDataBase<OtherDerived> & /*other*/) const |
| 303 |
|
|
{ |
| 304 |
|
✗ |
return false; |
| 305 |
|
|
; |
| 306 |
|
|
} |
| 307 |
|
|
|
| 308 |
|
✗ |
bool operator!=(const JointDataBase<Derived> & other) const |
| 309 |
|
|
{ |
| 310 |
|
✗ |
return derived().isNotEqual(other.derived()); |
| 311 |
|
|
} |
| 312 |
|
|
|
| 313 |
|
|
/// \brief Default operator!= implementation |
| 314 |
|
✗ |
bool isNotEqual(const JointDataBase<Derived> & other) const |
| 315 |
|
|
{ |
| 316 |
|
✗ |
return !(internal::comparison_eq(derived(), other.derived())); |
| 317 |
|
|
} |
| 318 |
|
|
|
| 319 |
|
|
protected: |
| 320 |
|
|
/// \brief Default constructor: protected. |
| 321 |
|
69246 |
inline JointDataBase() |
| 322 |
|
|
{ |
| 323 |
|
69246 |
} |
| 324 |
|
|
|
| 325 |
|
|
}; // struct JointDataBase |
| 326 |
|
|
|
| 327 |
|
|
} // namespace pinocchio |
| 328 |
|
|
|
| 329 |
|
|
#endif // ifndef __pinocchio_multibody_joint_data_base_hpp__ |
| 330 |
|
|
|