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// Copyright (c) 2015-2020 CNRS INRIA |
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// Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
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// |
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#ifndef __pinocchio_multibody_constraint_base_hpp__ |
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#define __pinocchio_multibody_constraint_base_hpp__ |
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#include "pinocchio/macros.hpp" |
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#include "pinocchio/spatial/fwd.hpp" |
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#include "pinocchio/spatial/motion.hpp" |
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#include "pinocchio/spatial/act-on-set.hpp" |
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#include <boost/static_assert.hpp> |
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// S : v \in M^6 -> v_J \in lie(Q) ~= R^nv |
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// S^T : f_J \in lie(Q)^* ~= R^nv -> f \in F^6 |
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#define PINOCCHIO_CONSTRAINT_TYPEDEF_GENERIC(DERIVED, TYPENAME) \ |
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typedef TYPENAME traits<DERIVED>::Scalar Scalar; \ |
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typedef TYPENAME traits<DERIVED>::JointMotion JointMotion; \ |
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typedef TYPENAME traits<DERIVED>::JointForce JointForce; \ |
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typedef TYPENAME traits<DERIVED>::DenseBase DenseBase; \ |
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typedef TYPENAME traits<DERIVED>::MatrixReturnType MatrixReturnType; \ |
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typedef TYPENAME traits<DERIVED>::ConstMatrixReturnType ConstMatrixReturnType; \ |
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enum \ |
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{ \ |
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LINEAR = traits<DERIVED>::LINEAR, \ |
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ANGULAR = traits<DERIVED>::ANGULAR \ |
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}; \ |
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enum \ |
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{ \ |
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Options = traits<DERIVED>::Options \ |
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}; |
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#define PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(DERIVED) \ |
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PINOCCHIO_CONSTRAINT_TYPEDEF_GENERIC(DERIVED, typename) |
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#define PINOCCHIO_CONSTRAINT_TYPEDEF(DERIVED) \ |
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PINOCCHIO_CONSTRAINT_TYPEDEF_GENERIC(DERIVED, PINOCCHIO_EMPTY_ARG) |
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namespace pinocchio |
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{ |
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/// \brief Return type of the Constraint::Transpose * Force operation |
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template<class ConstraintDerived, typename Force> |
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struct ConstraintForceOp |
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{ |
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typedef ReturnTypeNotDefined ReturnType; |
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}; |
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/// \brief Return type of the Constraint::Transpose * ForceSet operation |
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template<class ConstraintDerived, typename ForceSet> |
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struct ConstraintForceSetOp |
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{ |
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typedef ReturnTypeNotDefined ReturnType; |
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}; |
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template<class Derived> |
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class JointMotionSubspaceBase : public NumericalBase<Derived> |
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{ |
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protected: |
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PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(Derived) |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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Derived & derived() |
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{ |
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return *static_cast<Derived *>(this); |
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} |
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const Derived & derived() const |
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{ |
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return *static_cast<const Derived *>(this); |
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} |
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template<typename VectorLike> |
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JointMotion operator*(const Eigen::MatrixBase<VectorLike> & vj) const |
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{ |
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return derived().__mult__(vj); |
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} |
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MatrixReturnType matrix() |
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{ |
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return derived().matrix_impl(); |
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} |
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ConstMatrixReturnType matrix() const |
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{ |
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return derived().matrix_impl(); |
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} |
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int nv() const |
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{ |
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return derived().nv_impl(); |
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} |
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static int rows() |
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{ |
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return 6; |
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} |
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int cols() const |
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{ |
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return nv(); |
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} |
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template<class OtherDerived> |
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bool isApprox( |
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const JointMotionSubspaceBase<OtherDerived> & other, |
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const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const |
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{ |
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return matrix().isApprox(other.matrix(), prec); |
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} |
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void disp(std::ostream & os) const |
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{ |
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derived().disp_impl(os); |
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} |
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friend std::ostream & operator<<(std::ostream & os, const JointMotionSubspaceBase<Derived> & X) |
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{ |
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X.disp(os); |
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return os; |
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} |
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typename SE3GroupAction<Derived>::ReturnType se3Action(const SE3Tpl<Scalar, Options> & m) const |
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{ |
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return derived().se3Action(m); |
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} |
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typename SE3GroupAction<Derived>::ReturnType |
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se3ActionInverse(const SE3Tpl<Scalar, Options> & m) const |
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{ |
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return derived().se3ActionInverse(m); |
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} |
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template<typename MotionDerived> |
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typename MotionAlgebraAction<Derived, MotionDerived>::ReturnType |
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motionAction(const MotionDense<MotionDerived> & v) const |
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{ |
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return derived().motionAction(v); |
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} |
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bool operator==(const JointMotionSubspaceBase<Derived> & other) const |
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{ |
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return derived().isEqual(other.derived()); |
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} |
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}; // class JointMotionSubspaceBase |
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/// \brief Operation Y * S used in the CRBA algorithm for instance |
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template<typename Scalar, int Options, typename ConstraintDerived> |
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typename MultiplicationOp<InertiaTpl<Scalar, Options>, ConstraintDerived>::ReturnType operator*( |
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const InertiaTpl<Scalar, Options> & Y, |
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const JointMotionSubspaceBase<ConstraintDerived> & constraint) |
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{ |
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return impl::LhsMultiplicationOp<InertiaTpl<Scalar, Options>, ConstraintDerived>::run( |
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Y, constraint.derived()); |
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} |
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/// \brief Operation Y_matrix * S used in the ABA algorithm for instance |
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template<typename MatrixDerived, typename ConstraintDerived> |
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typename MultiplicationOp<Eigen::MatrixBase<MatrixDerived>, ConstraintDerived>::ReturnType |
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operator*( |
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const Eigen::MatrixBase<MatrixDerived> & Y, |
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const JointMotionSubspaceBase<ConstraintDerived> & constraint) |
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{ |
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return impl::LhsMultiplicationOp<Eigen::MatrixBase<MatrixDerived>, ConstraintDerived>::run( |
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Y.derived(), constraint.derived()); |
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} |
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namespace details |
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{ |
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template<typename Constraint> |
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struct StDiagonalMatrixSOperation |
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{ |
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typedef typename traits<Constraint>::StDiagonalMatrixSOperationReturnType ReturnType; |
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typedef typename traits<Constraint>::ReducedSquaredMatrix ReducedSquaredMatrix; |
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static ReturnType run(const JointMotionSubspaceBase<Constraint> & /*constraint*/) |
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{ |
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return ReducedSquaredMatrix::Identity(Constraint::NV, Constraint::NV); |
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} |
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}; |
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} // namespace details |
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template<class ConstraintDerived> |
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struct JointMotionSubspaceTransposeBase |
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{ |
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typedef typename traits<ConstraintDerived>::StDiagonalMatrixSOperationReturnType |
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StDiagonalMatrixSOperationReturnType; |
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}; |
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template<class ConstraintDerived> |
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typename JointMotionSubspaceTransposeBase<ConstraintDerived>::StDiagonalMatrixSOperationReturnType |
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operator*( |
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const JointMotionSubspaceTransposeBase<ConstraintDerived> & /*S_transpose*/, |
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const JointMotionSubspaceBase<ConstraintDerived> & S) |
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{ |
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return details::StDiagonalMatrixSOperation<ConstraintDerived>::run(S.derived()); |
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} |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_multibody_constraint_base_hpp__ |
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