| Directory: | ./ |
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| File: | include/pinocchio/multibody/joint/joint-generic.hpp |
| Date: | 2024-08-27 18:20:05 |
| Exec | Total | Coverage | |
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| Lines: | 52 | 117 | 44.4% |
| Branches: | 2 | 14 | 14.3% |
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| 1 | // | ||
| 2 | // Copyright (c) 2016-2021 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_multibody_joint_generic_hpp__ | ||
| 6 | #define __pinocchio_multibody_joint_generic_hpp__ | ||
| 7 | |||
| 8 | #include "pinocchio/multibody/joint/joint-collection.hpp" | ||
| 9 | #include "pinocchio/multibody/joint/joint-composite.hpp" | ||
| 10 | #include "pinocchio/multibody/joint/joint-basic-visitors.hxx" | ||
| 11 | #include "pinocchio/container/aligned-vector.hpp" | ||
| 12 | |||
| 13 | #include <boost/mpl/contains.hpp> | ||
| 14 | |||
| 15 | namespace pinocchio | ||
| 16 | { | ||
| 17 | |||
| 18 | template< | ||
| 19 | typename Scalar, | ||
| 20 | int Options = context::Options, | ||
| 21 | template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl> | ||
| 22 | struct JointTpl; | ||
| 23 | typedef JointTpl<context::Scalar> Joint; | ||
| 24 | |||
| 25 | template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl> | ||
| 26 | struct traits<JointTpl<_Scalar, _Options, JointCollectionTpl>> | ||
| 27 | { | ||
| 28 | enum | ||
| 29 | { | ||
| 30 | Options = _Options, | ||
| 31 | NQ = Eigen::Dynamic, // Dynamic because unknown at compile time | ||
| 32 | NV = Eigen::Dynamic | ||
| 33 | }; | ||
| 34 | |||
| 35 | typedef _Scalar Scalar; | ||
| 36 | typedef JointCollectionTpl<Scalar, Options> JointCollection; | ||
| 37 | typedef JointDataTpl<Scalar, Options, JointCollectionTpl> JointDataDerived; | ||
| 38 | typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModelDerived; | ||
| 39 | |||
| 40 | typedef JointMotionSubspaceTpl<Eigen::Dynamic, Scalar, Options> Constraint_t; | ||
| 41 | typedef SE3Tpl<Scalar, Options> Transformation_t; | ||
| 42 | typedef MotionTpl<Scalar, Options> Motion_t; | ||
| 43 | typedef MotionTpl<Scalar, Options> Bias_t; | ||
| 44 | |||
| 45 | // [ABA] | ||
| 46 | typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> U_t; | ||
| 47 | typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> D_t; | ||
| 48 | typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> UD_t; | ||
| 49 | |||
| 50 | typedef Constraint_t ConstraintTypeConstRef; | ||
| 51 | typedef Constraint_t ConstraintTypeRef; | ||
| 52 | typedef Transformation_t TansformTypeConstRef; | ||
| 53 | typedef Transformation_t TansformTypeRef; | ||
| 54 | typedef Motion_t MotionTypeConstRef; | ||
| 55 | typedef Motion_t MotionTypeRef; | ||
| 56 | typedef Bias_t BiasTypeConstRef; | ||
| 57 | typedef Bias_t BiasTypeRef; | ||
| 58 | typedef U_t UTypeConstRef; | ||
| 59 | typedef U_t UTypeRef; | ||
| 60 | typedef D_t DTypeConstRef; | ||
| 61 | typedef D_t DTypeRef; | ||
| 62 | typedef UD_t UDTypeConstRef; | ||
| 63 | typedef UD_t UDTypeRef; | ||
| 64 | |||
| 65 | typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> ConfigVector_t; | ||
| 66 | typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> TangentVector_t; | ||
| 67 | |||
| 68 | typedef ConfigVector_t ConfigVectorTypeConstRef; | ||
| 69 | typedef ConfigVector_t ConfigVectorTypeRef; | ||
| 70 | typedef TangentVector_t TangentVectorTypeConstRef; | ||
| 71 | typedef TangentVector_t TangentVectorTypeRef; | ||
| 72 | }; | ||
| 73 | |||
| 74 | template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl> | ||
| 75 | struct traits<JointDataTpl<_Scalar, _Options, JointCollectionTpl>> | ||
| 76 | { | ||
| 77 | typedef JointTpl<_Scalar, _Options, JointCollectionTpl> JointDerived; | ||
| 78 | typedef typename traits<JointDerived>::Scalar Scalar; | ||
| 79 | }; | ||
| 80 | |||
| 81 | template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl> | ||
| 82 | struct traits<JointModelTpl<_Scalar, _Options, JointCollectionTpl>> | ||
| 83 | { | ||
| 84 | typedef JointTpl<_Scalar, _Options, JointCollectionTpl> JointDerived; | ||
| 85 | typedef typename traits<JointDerived>::Scalar Scalar; | ||
| 86 | }; | ||
| 87 | |||
| 88 | template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl> | ||
| 89 | struct JointDataTpl | ||
| 90 | : public JointDataBase<JointDataTpl<_Scalar, _Options, JointCollectionTpl>> | ||
| 91 | , JointCollectionTpl<_Scalar, _Options>::JointDataVariant | ||
| 92 | { | ||
| 93 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 94 | |||
| 95 | typedef JointTpl<_Scalar, _Options, JointCollectionTpl> JointDerived; | ||
| 96 | typedef JointDataBase<JointDataTpl> Base; | ||
| 97 | |||
| 98 | PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived); | ||
| 99 | |||
| 100 | typedef JointCollectionTpl<_Scalar, _Options> JointCollection; | ||
| 101 | typedef typename JointCollection::JointDataVariant JointDataVariant; | ||
| 102 | |||
| 103 | using Base::operator==; | ||
| 104 | using Base::operator!=; | ||
| 105 | |||
| 106 | JointDataVariant & toVariant() | ||
| 107 | { | ||
| 108 | return *static_cast<JointDataVariant *>(this); | ||
| 109 | } | ||
| 110 | ✗ | const JointDataVariant & toVariant() const | |
| 111 | { | ||
| 112 | ✗ | return *static_cast<const JointDataVariant *>(this); | |
| 113 | } | ||
| 114 | |||
| 115 | ✗ | ConfigVector_t joint_q() const | |
| 116 | { | ||
| 117 | ✗ | return pinocchio::joint_q(*this); | |
| 118 | } | ||
| 119 | ✗ | TangentVector_t joint_v() const | |
| 120 | { | ||
| 121 | ✗ | return pinocchio::joint_v(*this); | |
| 122 | } | ||
| 123 | 27 | Constraint_t S() const | |
| 124 | { | ||
| 125 | 27 | return joint_motin_subspace_xd(*this); | |
| 126 | } | ||
| 127 | 27 | Transformation_t M() const | |
| 128 | { | ||
| 129 | 27 | return joint_transform(*this); | |
| 130 | } | ||
| 131 | ✗ | Motion_t v() const | |
| 132 | { | ||
| 133 | ✗ | return motion(*this); | |
| 134 | } | ||
| 135 | ✗ | Bias_t c() const | |
| 136 | { | ||
| 137 | ✗ | return bias(*this); | |
| 138 | } | ||
| 139 | |||
| 140 | // [ABA CCRBA] | ||
| 141 | 83 | U_t U() const | |
| 142 | { | ||
| 143 | 83 | return u_inertia(*this); | |
| 144 | } | ||
| 145 | 2 | D_t Dinv() const | |
| 146 | { | ||
| 147 | 2 | return dinv_inertia(*this); | |
| 148 | } | ||
| 149 | 2 | UD_t UDinv() const | |
| 150 | { | ||
| 151 | 2 | return udinv_inertia(*this); | |
| 152 | } | ||
| 153 | 29 | D_t StU() const | |
| 154 | { | ||
| 155 | 29 | return stu_inertia(*this); | |
| 156 | } | ||
| 157 | |||
| 158 | 13 | JointDataTpl() | |
| 159 | 13 | : JointDataVariant() | |
| 160 | { | ||
| 161 | 13 | } | |
| 162 | |||
| 163 | ✗ | JointDataTpl(const JointDataVariant & jdata_variant) | |
| 164 | ✗ | : JointDataVariant(jdata_variant) | |
| 165 | { | ||
| 166 | } | ||
| 167 | |||
| 168 | template<typename JointDataDerived> | ||
| 169 | 36124 | JointDataTpl(const JointDataBase<JointDataDerived> & jdata) | |
| 170 | 36124 | : JointCollection::JointDataVariant((JointDataVariant)jdata.derived()) | |
| 171 | { | ||
| 172 | BOOST_MPL_ASSERT((boost::mpl::contains<typename JointDataVariant::types, JointDataDerived>)); | ||
| 173 | 36124 | } | |
| 174 | |||
| 175 | // Define all the standard accessors | ||
| 176 | ✗ | ConfigVector_t joint_q_accessor() const | |
| 177 | { | ||
| 178 | ✗ | return joint_q(); | |
| 179 | } | ||
| 180 | ✗ | TangentVector_t joint_v_accessor() const | |
| 181 | { | ||
| 182 | ✗ | return joint_v(); | |
| 183 | } | ||
| 184 | ✗ | Constraint_t S_accessor() const | |
| 185 | { | ||
| 186 | ✗ | return S(); | |
| 187 | } | ||
| 188 | ✗ | Transformation_t M_accessor() const | |
| 189 | { | ||
| 190 | ✗ | return M(); | |
| 191 | } | ||
| 192 | ✗ | Motion_t v_accessor() const | |
| 193 | { | ||
| 194 | ✗ | return v(); | |
| 195 | } | ||
| 196 | ✗ | Bias_t c_accessor() const | |
| 197 | { | ||
| 198 | ✗ | return c(); | |
| 199 | } | ||
| 200 | ✗ | U_t U_accessor() const | |
| 201 | { | ||
| 202 | ✗ | return U(); | |
| 203 | } | ||
| 204 | ✗ | D_t Dinv_accessor() const | |
| 205 | { | ||
| 206 | ✗ | return Dinv(); | |
| 207 | } | ||
| 208 | ✗ | UD_t UDinv_accessor() const | |
| 209 | { | ||
| 210 | ✗ | return UDinv(); | |
| 211 | } | ||
| 212 | D_t StU_accessor() const | ||
| 213 | { | ||
| 214 | return StU(); | ||
| 215 | } | ||
| 216 | |||
| 217 | ✗ | static std::string classname() | |
| 218 | { | ||
| 219 | ✗ | return "JointData"; | |
| 220 | } | ||
| 221 | ✗ | std::string shortname() const | |
| 222 | { | ||
| 223 | ✗ | return ::pinocchio::shortname(*this); | |
| 224 | } | ||
| 225 | |||
| 226 | template<typename JointDataDerived> | ||
| 227 | ✗ | bool isEqual(const JointDataBase<JointDataDerived> & other) const | |
| 228 | { | ||
| 229 | ✗ | return ::pinocchio::isEqual(*this, other.derived()); | |
| 230 | } | ||
| 231 | |||
| 232 | ✗ | bool isEqual(const JointDataTpl & other) const | |
| 233 | { | ||
| 234 | ✗ | return Base::isEqual(other) && toVariant() == other.toVariant(); | |
| 235 | } | ||
| 236 | |||
| 237 | ✗ | bool operator==(const JointDataTpl & other) const | |
| 238 | { | ||
| 239 | ✗ | return isEqual(other); | |
| 240 | } | ||
| 241 | |||
| 242 | ✗ | bool operator!=(const JointDataTpl & other) const | |
| 243 | { | ||
| 244 | ✗ | return !(*this == other); | |
| 245 | } | ||
| 246 | }; | ||
| 247 | |||
| 248 | template< | ||
| 249 | typename NewScalar, | ||
| 250 | typename Scalar, | ||
| 251 | int Options, | ||
| 252 | template<typename S, int O> | ||
| 253 | class JointCollectionTpl> | ||
| 254 | struct CastType<NewScalar, JointModelTpl<Scalar, Options, JointCollectionTpl>> | ||
| 255 | { | ||
| 256 | typedef JointModelTpl<NewScalar, Options, JointCollectionTpl> type; | ||
| 257 | }; | ||
| 258 | |||
| 259 | template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl> | ||
| 260 | struct JointModelTpl | ||
| 261 | : JointModelBase<JointModelTpl<_Scalar, _Options, JointCollectionTpl>> | ||
| 262 | , JointCollectionTpl<_Scalar, _Options>::JointModelVariant | ||
| 263 | { | ||
| 264 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 265 | |||
| 266 | typedef JointTpl<_Scalar, _Options, JointCollectionTpl> JointDerived; | ||
| 267 | |||
| 268 | PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived); | ||
| 269 | PINOCCHIO_JOINT_USE_INDEXES(JointModelTpl); | ||
| 270 | |||
| 271 | typedef JointCollectionTpl<Scalar, Options> JointCollection; | ||
| 272 | typedef typename JointCollection::JointDataVariant JointDataVariant; | ||
| 273 | typedef typename JointCollection::JointModelVariant JointModelVariant; | ||
| 274 | |||
| 275 | using Base::id; | ||
| 276 | using Base::setIndexes; | ||
| 277 | using Base::operator==; | ||
| 278 | using Base::operator!=; | ||
| 279 | |||
| 280 | 403 | JointModelTpl() | |
| 281 | 403 | : JointModelVariant() | |
| 282 | { | ||
| 283 | 403 | } | |
| 284 | |||
| 285 | JointModelTpl(const JointModelVariant & jmodel_variant) | ||
| 286 | : JointCollection::JointModelVariant(jmodel_variant) | ||
| 287 | { | ||
| 288 | } | ||
| 289 | |||
| 290 | ✗ | const std::vector<bool> hasConfigurationLimit() const | |
| 291 | { | ||
| 292 | ✗ | return ::pinocchio::hasConfigurationLimit(*this); | |
| 293 | } | ||
| 294 | |||
| 295 | ✗ | const std::vector<bool> hasConfigurationLimitInTangent() const | |
| 296 | { | ||
| 297 | ✗ | return ::pinocchio::hasConfigurationLimitInTangent(*this); | |
| 298 | } | ||
| 299 | |||
| 300 | template<typename JointModelDerived> | ||
| 301 | 9995 | JointModelTpl(const JointModelBase<JointModelDerived> & jmodel) | |
| 302 | 9995 | : JointModelVariant((JointModelVariant)jmodel.derived()) | |
| 303 | { | ||
| 304 | BOOST_MPL_ASSERT( | ||
| 305 | (boost::mpl::contains<typename JointModelVariant::types, JointModelDerived>)); | ||
| 306 | 9995 | } | |
| 307 | |||
| 308 | JointModelVariant & toVariant() | ||
| 309 | { | ||
| 310 | return *static_cast<JointModelVariant *>(this); | ||
| 311 | } | ||
| 312 | |||
| 313 | 119 | const JointModelVariant & toVariant() const | |
| 314 | { | ||
| 315 | 119 | return *static_cast<const JointModelVariant *>(this); | |
| 316 | } | ||
| 317 | |||
| 318 | 27 | JointDataDerived createData() const | |
| 319 | { | ||
| 320 | 27 | return ::pinocchio::createData<Scalar, Options, JointCollectionTpl>(*this); | |
| 321 | } | ||
| 322 | |||
| 323 | template<typename JointModelDerived> | ||
| 324 | ✗ | bool isEqual(const JointModelBase<JointModelDerived> & other) const | |
| 325 | { | ||
| 326 | ✗ | return ::pinocchio::isEqual(*this, other.derived()); | |
| 327 | } | ||
| 328 | |||
| 329 | template<typename JointModelDerived> | ||
| 330 | 59 | bool hasSameIndexes(const JointModelBase<JointModelDerived> & other) const | |
| 331 | { | ||
| 332 | 59 | return ::pinocchio::hasSameIndexes(*this, other.derived()); | |
| 333 | } | ||
| 334 | |||
| 335 | 59 | bool isEqual(const JointModelTpl & other) const | |
| 336 | { | ||
| 337 |
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59 | return Base::isEqual(other) && toVariant() == other.toVariant(); |
| 338 | } | ||
| 339 | |||
| 340 | 59 | bool operator==(const JointModelTpl & other) const | |
| 341 | { | ||
| 342 | 59 | return isEqual(other); | |
| 343 | } | ||
| 344 | |||
| 345 | ✗ | bool operator!=(const JointModelTpl & other) const | |
| 346 | { | ||
| 347 | ✗ | return !(*this == other); | |
| 348 | } | ||
| 349 | |||
| 350 | template<typename ConfigVector> | ||
| 351 | 27 | void calc(JointDataDerived & data, const Eigen::MatrixBase<ConfigVector> & q) const | |
| 352 | { | ||
| 353 | 27 | calc_zero_order(*this, data, q.derived()); | |
| 354 | 27 | } | |
| 355 | |||
| 356 | template<typename TangentVector> | ||
| 357 | void calc( | ||
| 358 | JointDataDerived & data, const Blank blank, const Eigen::MatrixBase<TangentVector> & v) const | ||
| 359 | { | ||
| 360 | calc_first_order(*this, data, blank, v.derived()); | ||
| 361 | } | ||
| 362 | |||
| 363 | template<typename ConfigVector, typename TangentVector> | ||
| 364 | ✗ | void calc( | |
| 365 | JointDataDerived & data, | ||
| 366 | const Eigen::MatrixBase<ConfigVector> & q, | ||
| 367 | const Eigen::MatrixBase<TangentVector> & v) const | ||
| 368 | { | ||
| 369 | ✗ | calc_first_order(*this, data, q.derived(), v.derived()); | |
| 370 | } | ||
| 371 | |||
| 372 | template<typename VectorLike, typename Matrix6Like> | ||
| 373 | ✗ | void calc_aba( | |
| 374 | JointDataDerived & data, | ||
| 375 | const Eigen::MatrixBase<VectorLike> & armature, | ||
| 376 | const Eigen::MatrixBase<Matrix6Like> & I, | ||
| 377 | const bool update_I) const | ||
| 378 | { | ||
| 379 | ✗ | ::pinocchio::calc_aba( | |
| 380 | ✗ | *this, data, armature.derived(), PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like, I), update_I); | |
| 381 | } | ||
| 382 | |||
| 383 | 31 | std::string shortname() const | |
| 384 | { | ||
| 385 | 31 | return ::pinocchio::shortname(*this); | |
| 386 | } | ||
| 387 | ✗ | static std::string classname() | |
| 388 | { | ||
| 389 | ✗ | return "JointModel"; | |
| 390 | } | ||
| 391 | |||
| 392 | 819676 | int nq_impl() const | |
| 393 | { | ||
| 394 | 819676 | return ::pinocchio::nq(*this); | |
| 395 | } | ||
| 396 | 8387287 | int nv_impl() const | |
| 397 | { | ||
| 398 | 8387287 | return ::pinocchio::nv(*this); | |
| 399 | } | ||
| 400 | |||
| 401 | 1191839 | int idx_q_impl() const | |
| 402 | { | ||
| 403 | 1191839 | return ::pinocchio::idx_q(*this); | |
| 404 | } | ||
| 405 | 3577772 | int idx_v_impl() const | |
| 406 | { | ||
| 407 | 3577772 | return ::pinocchio::idx_v(*this); | |
| 408 | } | ||
| 409 | |||
| 410 | 95 | JointIndex id_impl() const | |
| 411 | { | ||
| 412 | 95 | return ::pinocchio::id(*this); | |
| 413 | } | ||
| 414 | |||
| 415 | 10642 | void setIndexes(JointIndex id, int nq, int nv) | |
| 416 | { | ||
| 417 | 10642 | ::pinocchio::setIndexes(*this, id, nq, nv); | |
| 418 | 10642 | } | |
| 419 | |||
| 420 | /// \returns An expression of *this with the Scalar type casted to NewScalar. | ||
| 421 | template<typename NewScalar> | ||
| 422 | ✗ | JointModelTpl<NewScalar, Options, JointCollectionTpl> cast() const | |
| 423 | { | ||
| 424 | ✗ | return cast_joint<NewScalar, Scalar, Options, JointCollectionTpl>(*this); | |
| 425 | } | ||
| 426 | }; | ||
| 427 | |||
| 428 | typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointData) JointDataVector; | ||
| 429 | typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointModel) JointModelVector; | ||
| 430 | |||
| 431 | template< | ||
| 432 | typename Scalar, | ||
| 433 | int Options, | ||
| 434 | template<typename S, int O> | ||
| 435 | class JointCollectionTpl, | ||
| 436 | typename JointDataDerived> | ||
| 437 | ✗ | bool operator==( | |
| 438 | const JointDataBase<JointDataDerived> & joint_data, | ||
| 439 | const JointDataTpl<Scalar, Options, JointCollectionTpl> & joint_data_generic) | ||
| 440 | { | ||
| 441 | ✗ | return joint_data_generic == joint_data.derived(); | |
| 442 | } | ||
| 443 | |||
| 444 | template< | ||
| 445 | typename Scalar, | ||
| 446 | int Options, | ||
| 447 | template<typename S, int O> | ||
| 448 | class JointCollectionTpl, | ||
| 449 | typename JointDataDerived> | ||
| 450 | ✗ | bool operator!=( | |
| 451 | const JointDataBase<JointDataDerived> & joint_data, | ||
| 452 | const JointDataTpl<Scalar, Options, JointCollectionTpl> & joint_data_generic) | ||
| 453 | { | ||
| 454 | ✗ | return joint_data_generic != joint_data.derived(); | |
| 455 | } | ||
| 456 | |||
| 457 | template< | ||
| 458 | typename Scalar, | ||
| 459 | int Options, | ||
| 460 | template<typename S, int O> | ||
| 461 | class JointCollectionTpl, | ||
| 462 | typename JointModelDerived> | ||
| 463 | ✗ | bool operator==( | |
| 464 | const JointModelBase<JointModelDerived> & joint_model, | ||
| 465 | const JointModelTpl<Scalar, Options, JointCollectionTpl> & joint_model_generic) | ||
| 466 | { | ||
| 467 | ✗ | return joint_model_generic == joint_model.derived(); | |
| 468 | } | ||
| 469 | |||
| 470 | template< | ||
| 471 | typename Scalar, | ||
| 472 | int Options, | ||
| 473 | template<typename S, int O> | ||
| 474 | class JointCollectionTpl, | ||
| 475 | typename JointModelDerived> | ||
| 476 | bool operator!=( | ||
| 477 | const JointModelBase<JointModelDerived> & joint_model, | ||
| 478 | const JointModelTpl<Scalar, Options, JointCollectionTpl> & joint_model_generic) | ||
| 479 | { | ||
| 480 | return joint_model_generic != joint_model.derived(); | ||
| 481 | } | ||
| 482 | |||
| 483 | } // namespace pinocchio | ||
| 484 | |||
| 485 | #endif // ifndef __pinocchio_multibody_joint_generic_hpp__ | ||
| 486 |