GCC Code Coverage Report

Directory: ./
File: include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 183 193 94.8%
Branches: 151 356 42.4%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2020 CNRS INRIA
3 // Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5
6 #ifndef __pinocchio_multibody_joint_prismatic_unaligned_hpp__
7 #define __pinocchio_multibody_joint_prismatic_unaligned_hpp__
8
9 #include "pinocchio/macros.hpp"
10 #include "pinocchio/multibody/joint/joint-base.hpp"
11 #include "pinocchio/multibody/joint/joint-translation.hpp"
12 #include "pinocchio/multibody/joint-motion-subspace.hpp"
13 #include "pinocchio/spatial/inertia.hpp"
14 #include "pinocchio/math/matrix.hpp"
15
16 namespace pinocchio
17 {
18
19 template<typename Scalar, int Options = context::Options>
20 struct MotionPrismaticUnalignedTpl;
21 typedef MotionPrismaticUnalignedTpl<context::Scalar> MotionPrismaticUnaligned;
22
23 template<typename Scalar, int Options>
24 struct SE3GroupAction<MotionPrismaticUnalignedTpl<Scalar, Options>>
25 {
26 typedef MotionTpl<Scalar, Options> ReturnType;
27 };
28
29 template<typename Scalar, int Options, typename MotionDerived>
30 struct MotionAlgebraAction<MotionPrismaticUnalignedTpl<Scalar, Options>, MotionDerived>
31 {
32 typedef MotionTpl<Scalar, Options> ReturnType;
33 };
34
35 template<typename _Scalar, int _Options>
36 struct traits<MotionPrismaticUnalignedTpl<_Scalar, _Options>>
37 {
38 typedef _Scalar Scalar;
39 enum
40 {
41 Options = _Options
42 };
43 typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3;
44 typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6;
45 typedef Eigen::Matrix<Scalar, 4, 4, Options> Matrix4;
46 typedef Eigen::Matrix<Scalar, 6, 6, Options> Matrix6;
47 typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6) ToVectorConstReturnType;
48 typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6) ToVectorReturnType;
49 typedef Vector3 AngularType;
50 typedef Vector3 LinearType;
51 typedef const Vector3 ConstAngularType;
52 typedef const Vector3 ConstLinearType;
53 typedef Matrix6 ActionMatrixType;
54 typedef Matrix4 HomogeneousMatrixType;
55 typedef MotionTpl<Scalar, Options> MotionPlain;
56 typedef MotionPlain PlainReturnType;
57 enum
58 {
59 LINEAR = 0,
60 ANGULAR = 3
61 };
62 }; // traits MotionPrismaticUnalignedTpl
63
64 template<typename _Scalar, int _Options>
65 struct MotionPrismaticUnalignedTpl : MotionBase<MotionPrismaticUnalignedTpl<_Scalar, _Options>>
66 {
67 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
68 MOTION_TYPEDEF_TPL(MotionPrismaticUnalignedTpl);
69
70 7 MotionPrismaticUnalignedTpl()
71 7 {
72 7 }
73
74 template<typename Vector3Like, typename S2>
75 3199 MotionPrismaticUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis, const S2 & v)
76 3199 : m_axis(axis)
77
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 3199 , m_v(v)
78 {
79 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like, 3);
80 3199 }
81
82 1037 inline PlainReturnType plain() const
83 {
84
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 1037 return PlainReturnType(m_axis * m_v, PlainReturnType::Vector3::Zero());
85 }
86
87 template<typename OtherScalar>
88 1 MotionPrismaticUnalignedTpl __mult__(const OtherScalar & alpha) const
89 {
90
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 2 return MotionPrismaticUnalignedTpl(m_axis, alpha * m_v);
91 }
92
93 template<typename Derived>
94 1 void addTo(MotionDense<Derived> & other) const
95 {
96
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 1 other.linear() += m_axis * m_v;
97 1 }
98
99 template<typename Derived>
100 5 void setTo(MotionDense<Derived> & other) const
101 {
102
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 5 other.linear().noalias() = m_axis * m_v;
103
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 5 other.angular().setZero();
104 5 }
105
106 template<typename S2, int O2, typename D2>
107 2 void se3Action_impl(const SE3Tpl<S2, O2> & m, MotionDense<D2> & v) const
108 {
109
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 2 v.linear().noalias() = m_v * (m.rotation() * m_axis); // TODO: check efficiency
110
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 2 v.angular().setZero();
111 2 }
112
113 template<typename S2, int O2>
114 2 MotionPlain se3Action_impl(const SE3Tpl<S2, O2> & m) const
115 {
116 2 MotionPlain res;
117
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 2 se3Action_impl(m, res);
118 2 return res;
119 }
120
121 template<typename S2, int O2, typename D2>
122 1 void se3ActionInverse_impl(const SE3Tpl<S2, O2> & m, MotionDense<D2> & v) const
123 {
124 // Linear
125
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 1 v.linear().noalias() = m_v * (m.rotation().transpose() * m_axis);
126
127 // Angular
128
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 1 v.angular().setZero();
129 1 }
130
131 template<typename S2, int O2>
132 1 MotionPlain se3ActionInverse_impl(const SE3Tpl<S2, O2> & m) const
133 {
134 1 MotionPlain res;
135
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 1 se3ActionInverse_impl(m, res);
136 1 return res;
137 }
138
139 template<typename M1, typename M2>
140 3 void motionAction(const MotionDense<M1> & v, MotionDense<M2> & mout) const
141 {
142 // Linear
143
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 3 mout.linear().noalias() = v.angular().cross(m_axis);
144
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 3 mout.linear() *= m_v;
145
146 // Angular
147
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 3 mout.angular().setZero();
148 3 }
149
150 template<typename M1>
151 3 MotionPlain motionAction(const MotionDense<M1> & v) const
152 {
153 3 MotionPlain res;
154
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 3 motionAction(v, res);
155 3 return res;
156 }
157
158 17 bool isEqual_impl(const MotionPrismaticUnalignedTpl & other) const
159 {
160 17 return internal::comparison_eq(m_axis, other.m_axis)
161
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 17 && internal::comparison_eq(m_v, other.m_v);
162 }
163
164 ✗ const Scalar & linearRate() const
165 {
166 ✗ return m_v;
167 }
168 1070 Scalar & linearRate()
169 {
170 1070 return m_v;
171 }
172
173 ✗ const Vector3 & axis() const
174 {
175 ✗ return m_axis;
176 }
177 28 Vector3 & axis()
178 {
179 28 return m_axis;
180 }
181
182 protected:
183 Vector3 m_axis;
184 Scalar m_v;
185 }; // struct MotionPrismaticUnalignedTpl
186
187 template<typename Scalar, int Options, typename MotionDerived>
188 ✗ inline typename MotionDerived::MotionPlain operator+(
189 const MotionPrismaticUnalignedTpl<Scalar, Options> & m1, const MotionDense<MotionDerived> & m2)
190 {
191 typedef typename MotionDerived::MotionPlain ReturnType;
192 ✗ return ReturnType(m1.linearRate() * m1.axis() + m2.linear(), m2.angular());
193 }
194
195 template<typename MotionDerived, typename S2, int O2>
196 inline typename MotionDerived::MotionPlain
197 2 operator^(const MotionDense<MotionDerived> & m1, const MotionPrismaticUnalignedTpl<S2, O2> & m2)
198 {
199 2 return m2.motionAction(m1);
200 }
201
202 template<typename Scalar, int Options>
203 struct JointMotionSubspacePrismaticUnalignedTpl;
204
205 template<typename _Scalar, int _Options>
206 struct traits<JointMotionSubspacePrismaticUnalignedTpl<_Scalar, _Options>>
207 {
208 typedef _Scalar Scalar;
209 enum
210 {
211 Options = _Options
212 };
213 enum
214 {
215 LINEAR = 0,
216 ANGULAR = 3
217 };
218
219 typedef MotionPrismaticUnalignedTpl<Scalar, Options> JointMotion;
220 typedef Eigen::Matrix<Scalar, 1, 1, Options> JointForce;
221 typedef Eigen::Matrix<Scalar, 6, 1, Options> DenseBase;
222 typedef Eigen::Matrix<Scalar, 1, 1, Options> ReducedSquaredMatrix;
223 typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3;
224
225 typedef DenseBase MatrixReturnType;
226 typedef const DenseBase ConstMatrixReturnType;
227
228 typedef typename ReducedSquaredMatrix::IdentityReturnType StDiagonalMatrixSOperationReturnType;
229 }; // traits JointMotionSubspacePrismaticUnalignedTpl
230
231 template<typename Scalar, int Options>
232 struct SE3GroupAction<JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options>>
233 {
234 typedef Eigen::Matrix<Scalar, 6, 1, Options> ReturnType;
235 };
236
237 template<typename Scalar, int Options, typename MotionDerived>
238 struct MotionAlgebraAction<
239 JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options>,
240 MotionDerived>
241 {
242 typedef Eigen::Matrix<Scalar, 6, 1, Options> ReturnType;
243 };
244
245 template<typename Scalar, int Options, typename ForceDerived>
246 struct ConstraintForceOp<JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options>, ForceDerived>
247 {
248 typedef
249 typename traits<JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options>>::Vector3 Vector3;
250 typedef Eigen::Matrix<
251 typename PINOCCHIO_EIGEN_DOT_PRODUCT_RETURN_TYPE(
252 Vector3, typename ForceDense<ForceDerived>::ConstAngularType),
253 1,
254 1,
255 Options>
256 ReturnType;
257 };
258
259 template<typename Scalar, int Options, typename ForceSet>
260 struct ConstraintForceSetOp<JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options>, ForceSet>
261 {
262 typedef
263 typename traits<JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options>>::Vector3 Vector3;
264 typedef typename MatrixMatrixProduct<
265 Eigen::Transpose<const Vector3>,
266 typename Eigen::MatrixBase<const ForceSet>::template NRowsBlockXpr<3>::Type>::type ReturnType;
267 };
268
269 template<typename _Scalar, int _Options>
270 struct JointMotionSubspacePrismaticUnalignedTpl
271 : JointMotionSubspaceBase<JointMotionSubspacePrismaticUnalignedTpl<_Scalar, _Options>>
272 {
273 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
274 PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(JointMotionSubspacePrismaticUnalignedTpl)
275
276 enum
277 {
278 NV = 1
279 };
280
281 typedef typename traits<JointMotionSubspacePrismaticUnalignedTpl>::Vector3 Vector3;
282
283 7 JointMotionSubspacePrismaticUnalignedTpl()
284 7 {
285 7 }
286
287 template<typename Vector3Like>
288 3193 JointMotionSubspacePrismaticUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis)
289 3193 : m_axis(axis)
290 {
291 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like, 3);
292 3193 }
293
294 template<typename Vector1Like>
295 4 JointMotion __mult__(const Eigen::MatrixBase<Vector1Like> & v) const
296 {
297 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector1Like, 1);
298
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 5 return JointMotion(m_axis, v[0]);
299 }
300
301 template<typename S1, int O1>
302 typename SE3GroupAction<JointMotionSubspacePrismaticUnalignedTpl>::ReturnType
303 9 se3Action(const SE3Tpl<S1, O1> & m) const
304 {
305
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 9 typename SE3GroupAction<JointMotionSubspacePrismaticUnalignedTpl>::ReturnType res;
306
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 9 MotionRef<DenseBase> v(res);
307
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 9 v.linear().noalias() = m.rotation() * m_axis;
308
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 9 v.angular().setZero();
309 18 return res;
310 }
311
312 template<typename S1, int O1>
313 typename SE3GroupAction<JointMotionSubspacePrismaticUnalignedTpl>::ReturnType
314 3 se3ActionInverse(const SE3Tpl<S1, O1> & m) const
315 {
316
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 3 typename SE3GroupAction<JointMotionSubspacePrismaticUnalignedTpl>::ReturnType res;
317
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 3 MotionRef<DenseBase> v(res);
318
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 3 v.linear().noalias() = m.rotation().transpose() * m_axis;
319
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 3 v.angular().setZero();
320 6 return res;
321 }
322
323 21 int nv_impl() const
324 {
325 21 return NV;
326 }
327
328 struct TransposeConst
329 : JointMotionSubspaceTransposeBase<JointMotionSubspacePrismaticUnalignedTpl>
330 {
331 const JointMotionSubspacePrismaticUnalignedTpl & ref;
332 9 TransposeConst(const JointMotionSubspacePrismaticUnalignedTpl & ref)
333 9 : ref(ref)
334 {
335 9 }
336
337 template<typename ForceDerived>
338 typename ConstraintForceOp<JointMotionSubspacePrismaticUnalignedTpl, ForceDerived>::ReturnType
339 5 operator*(const ForceDense<ForceDerived> & f) const
340 {
341 typedef typename ConstraintForceOp<
342 JointMotionSubspacePrismaticUnalignedTpl, ForceDerived>::ReturnType ReturnType;
343 5 ReturnType res;
344
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 5 res[0] = ref.axis().dot(f.linear());
345 5 return res;
346 }
347
348 /* [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */
349 template<typename ForceSet>
350 typename ConstraintForceSetOp<JointMotionSubspacePrismaticUnalignedTpl, ForceSet>::ReturnType
351 3 operator*(const Eigen::MatrixBase<ForceSet> & F)
352 {
353 EIGEN_STATIC_ASSERT(
354 ForceSet::RowsAtCompileTime == 6, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE)
355 /* Return ax.T * F[1:3,:] */
356
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 3 return ref.axis().transpose() * F.template middleRows<3>(LINEAR);
357 }
358 };
359
360 9 TransposeConst transpose() const
361 {
362 9 return TransposeConst(*this);
363 }
364
365 /* CRBA joint operators
366 * - ForceSet::Block = ForceSet
367 * - ForceSet operator* (Inertia Y,Constraint S)
368 * - MatrixBase operator* (Constraint::Transpose S, ForceSet::Block)
369 * - SE3::act(ForceSet::Block)
370 */
371 21 DenseBase matrix_impl() const
372 {
373 21 DenseBase S;
374
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 21 S.template segment<3>(LINEAR) = m_axis;
375
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 21 S.template segment<3>(ANGULAR).setZero();
376 21 return S;
377 }
378
379 template<typename MotionDerived>
380 4 DenseBase motionAction(const MotionDense<MotionDerived> & v) const
381 {
382 4 DenseBase res;
383
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 4 res.template segment<3>(LINEAR).noalias() = v.angular().cross(m_axis);
384
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 4 res.template segment<3>(ANGULAR).setZero();
385
386 4 return res;
387 }
388
389 14 const Vector3 & axis() const
390 {
391 14 return m_axis;
392 }
393 28 Vector3 & axis()
394 {
395 28 return m_axis;
396 }
397
398 17 bool isEqual(const JointMotionSubspacePrismaticUnalignedTpl & other) const
399 {
400 17 return internal::comparison_eq(m_axis, other.m_axis);
401 }
402
403 protected:
404 Vector3 m_axis;
405
406 }; // struct JointMotionSubspacePrismaticUnalignedTpl
407
408 template<typename S1, int O1, typename S2, int O2>
409 struct MultiplicationOp<InertiaTpl<S1, O1>, JointMotionSubspacePrismaticUnalignedTpl<S2, O2>>
410 {
411 typedef Eigen::Matrix<S2, 6, 1, O2> ReturnType;
412 };
413
414 /* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
415 namespace impl
416 {
417 template<typename S1, int O1, typename S2, int O2>
418 struct LhsMultiplicationOp<InertiaTpl<S1, O1>, JointMotionSubspacePrismaticUnalignedTpl<S2, O2>>
419 {
420 typedef InertiaTpl<S1, O1> Inertia;
421 typedef JointMotionSubspacePrismaticUnalignedTpl<S2, O2> Constraint;
422 typedef typename MultiplicationOp<Inertia, Constraint>::ReturnType ReturnType;
423
424 4 static inline ReturnType run(const Inertia & Y, const Constraint & cpu)
425 {
426
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 4 ReturnType res;
427 /* YS = [ m -mcx ; mcx I-mcxcx ] [ 0 ; w ] = [ mcxw ; Iw -mcxcxw ] */
428
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 4 const S1 & m = Y.mass();
429 4 const typename Inertia::Vector3 & c = Y.lever();
430
431
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 4 res.template segment<3>(Constraint::LINEAR).noalias() = m * cpu.axis();
432
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 4 res.template segment<3>(Constraint::ANGULAR).noalias() =
433
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 4 c.cross(res.template segment<3>(Constraint::LINEAR));
434
435 8 return res;
436 }
437 };
438 } // namespace impl
439
440 template<typename M6Like, typename Scalar, int Options>
441 struct MultiplicationOp<
442 Eigen::MatrixBase<M6Like>,
443 JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options>>
444 {
445 typedef typename SizeDepType<3>::ColsReturn<M6Like>::ConstType M6LikeCols;
446 typedef typename Eigen::internal::remove_const<M6LikeCols>::type M6LikeColsNonConst;
447
448 typedef JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options> Constraint;
449 typedef typename Constraint::Vector3 Vector3;
450 typedef const typename MatrixMatrixProduct<M6LikeColsNonConst, Vector3>::type ReturnType;
451 };
452
453 /* [ABA] operator* (Inertia Y,Constraint S) */
454 namespace impl
455 {
456 template<typename M6Like, typename Scalar, int Options>
457 struct LhsMultiplicationOp<
458 Eigen::MatrixBase<M6Like>,
459 JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options>>
460 {
461 typedef JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options> Constraint;
462 typedef
463 typename MultiplicationOp<Eigen::MatrixBase<M6Like>, Constraint>::ReturnType ReturnType;
464 2 static inline ReturnType run(const Eigen::MatrixBase<M6Like> & Y, const Constraint & cru)
465 {
466 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(M6Like, 6, 6);
467
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 2 return Y.derived().template middleCols<3>(Constraint::LINEAR) * cru.axis();
468 }
469 };
470 } // namespace impl
471
472 template<typename Scalar, int Options>
473 struct JointPrismaticUnalignedTpl;
474
475 template<typename _Scalar, int _Options>
476 struct traits<JointPrismaticUnalignedTpl<_Scalar, _Options>>
477 {
478 enum
479 {
480 NQ = 1,
481 NV = 1
482 };
483 typedef _Scalar Scalar;
484 enum
485 {
486 Options = _Options
487 };
488 typedef JointDataPrismaticUnalignedTpl<Scalar, Options> JointDataDerived;
489 typedef JointModelPrismaticUnalignedTpl<Scalar, Options> JointModelDerived;
490 typedef JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options> Constraint_t;
491 typedef TransformTranslationTpl<Scalar, Options> Transformation_t;
492 typedef MotionPrismaticUnalignedTpl<Scalar, Options> Motion_t;
493 typedef MotionZeroTpl<Scalar, Options> Bias_t;
494
495 // [ABA]
496 typedef Eigen::Matrix<Scalar, 6, NV, Options> U_t;
497 typedef Eigen::Matrix<Scalar, NV, NV, Options> D_t;
498 typedef Eigen::Matrix<Scalar, 6, NV, Options> UD_t;
499
500 typedef Eigen::Matrix<Scalar, NQ, 1, Options> ConfigVector_t;
501 typedef Eigen::Matrix<Scalar, NV, 1, Options> TangentVector_t;
502
503 PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE
504 };
505
506 template<typename _Scalar, int _Options>
507 struct traits<JointDataPrismaticUnalignedTpl<_Scalar, _Options>>
508 {
509 typedef JointPrismaticUnalignedTpl<_Scalar, _Options> JointDerived;
510 typedef _Scalar Scalar;
511 };
512
513 template<typename _Scalar, int _Options>
514 struct JointDataPrismaticUnalignedTpl
515 : public JointDataBase<JointDataPrismaticUnalignedTpl<_Scalar, _Options>>
516 {
517 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
518 typedef JointPrismaticUnalignedTpl<_Scalar, _Options> JointDerived;
519 PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived);
520 857 PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR
521
522 ConfigVector_t joint_q;
523 TangentVector_t joint_v;
524
525 Transformation_t M;
526 Constraint_t S;
527 Motion_t v;
528 Bias_t c;
529
530 // [ABA] specific data
531 U_t U;
532 D_t Dinv;
533 UD_t UDinv;
534 D_t StU;
535
536 76 JointDataPrismaticUnalignedTpl()
537
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 76 : joint_q(ConfigVector_t::Zero())
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 76 , joint_v(TangentVector_t::Zero())
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 76 , M(Transformation_t::Vector3::Zero())
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 76 , S(Constraint_t::Vector3::Zero())
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 76 , v(Constraint_t::Vector3::Zero(), (Scalar)0)
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 76 , U(U_t::Zero())
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 76 , Dinv(D_t::Zero())
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 76 , UDinv(UD_t::Zero())
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 152 , StU(D_t::Zero())
546 {
547 76 }
548
549 template<typename Vector3Like>
550 3103 JointDataPrismaticUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis)
551
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 3103 : joint_q(ConfigVector_t::Zero())
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 3103 , joint_v(TangentVector_t::Zero())
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 3103 , M(Transformation_t::Vector3::Zero())
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 3103 , S(axis)
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 3103 , v(axis, (Scalar)0)
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 3103 , U(U_t::Zero())
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 3103 , Dinv(D_t::Zero())
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 3103 , UDinv(UD_t::Zero())
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 6206 , StU(D_t::Zero())
560 {
561 3103 }
562
563 144 static std::string classname()
564 {
565
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 144 return std::string("JointDataPrismaticUnaligned");
566 }
567 3 std::string shortname() const
568 {
569 3 return classname();
570 }
571
572 }; // struct JointDataPrismaticUnalignedTpl
573
574 template<typename _Scalar, int _Options>
575 struct traits<JointModelPrismaticUnalignedTpl<_Scalar, _Options>>
576 {
577 typedef JointPrismaticUnalignedTpl<_Scalar, _Options> JointDerived;
578 typedef _Scalar Scalar;
579 };
580
581 PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelPrismaticUnalignedTpl);
582 template<typename _Scalar, int _Options>
583 struct JointModelPrismaticUnalignedTpl
584 : public JointModelBase<JointModelPrismaticUnalignedTpl<_Scalar, _Options>>
585 {
586 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
587 typedef JointPrismaticUnalignedTpl<_Scalar, _Options> JointDerived;
588 PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived);
589
590 typedef JointModelBase<JointModelPrismaticUnalignedTpl> Base;
591 using Base::id;
592 using Base::idx_q;
593 using Base::idx_v;
594 using Base::setIndexes;
595
596 typedef Eigen::Matrix<Scalar, 3, 1, _Options> Vector3;
597
598 116 JointModelPrismaticUnalignedTpl()
599
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 116 : axis(Vector3::UnitX())
600 {
601 116 }
602 24 JointModelPrismaticUnalignedTpl(const Scalar & x, const Scalar & y, const Scalar & z)
603 24 : axis(x, y, z)
604 {
605
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 24 normalize(axis);
606
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 24 assert(isUnitary(axis) && "Translation axis is not unitary");
607 24 }
608
609 template<typename Vector3Like>
610 47 JointModelPrismaticUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis)
611 47 : axis(axis)
612 {
613 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Vector3Like);
614
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 47 assert(isUnitary(axis) && "Translation axis is not unitary");
615 47 }
616
617 3103 JointDataDerived createData() const
618 {
619 3103 return JointDataDerived(axis);
620 }
621
622 ✗ const std::vector<bool> hasConfigurationLimit() const
623 {
624 ✗ return {true};
625 }
626
627 ✗ const std::vector<bool> hasConfigurationLimitInTangent() const
628 {
629 ✗ return {true};
630 }
631
632 using Base::isEqual;
633 16 bool isEqual(const JointModelPrismaticUnalignedTpl & other) const
634 {
635
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 16 return Base::isEqual(other) && internal::comparison_eq(axis, other.axis);
636 }
637
638 template<typename ConfigVector>
639 6160 void calc(JointDataDerived & data, const typename Eigen::MatrixBase<ConfigVector> & qs) const
640 {
641
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 6160 data.joint_q[0] = qs[idx_q()];
642
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 6160 data.M.translation().noalias() = axis * data.joint_q[0];
643 6160 }
644
645 template<typename TangentVector>
646 void
647 1 calc(JointDataDerived & data, const Blank, const typename Eigen::MatrixBase<TangentVector> & vs)
648 const
649 {
650 1 data.joint_v[0] = vs[idx_v()];
651 1 data.v.linearRate() = data.joint_v[0];
652 1 }
653
654 template<typename ConfigVector, typename TangentVector>
655 1041 void calc(
656 JointDataDerived & data,
657 const typename Eigen::MatrixBase<ConfigVector> & qs,
658 const typename Eigen::MatrixBase<TangentVector> & vs) const
659 {
660 1041 calc(data, qs.derived());
661
662
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 1041 data.joint_v[0] = vs[idx_v()];
663 1041 data.v.linearRate() = data.joint_v[0];
664 1041 }
665
666 template<typename VectorLike, typename Matrix6Like>
667 8 void calc_aba(
668 JointDataDerived & data,
669 const Eigen::MatrixBase<VectorLike> & armature,
670 const Eigen::MatrixBase<Matrix6Like> & I,
671 const bool update_I) const
672 {
673
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 8 data.U.noalias() = I.template block<6, 3>(0, Inertia::LINEAR) * axis;
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 16 data.Dinv[0] =
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 8 Scalar(1) / (axis.dot(data.U.template segment<3>(Inertia::LINEAR)) + armature[0]);
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 8 data.UDinv.noalias() = data.U * data.Dinv;
677
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 8 if (update_I)
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 3 PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like, I).noalias() -= data.UDinv * data.U.transpose();
680 8 }
681
682 19551 static std::string classname()
683 {
684
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 19551 return std::string("JointModelPrismaticUnaligned");
685 }
686 19409 std::string shortname() const
687 {
688 19409 return classname();
689 }
690
691 /// \returns An expression of *this with the Scalar type casted to NewScalar.
692 template<typename NewScalar>
693 5 JointModelPrismaticUnalignedTpl<NewScalar, Options> cast() const
694 {
695 typedef JointModelPrismaticUnalignedTpl<NewScalar, Options> ReturnType;
696
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 5 ReturnType res(axis.template cast<NewScalar>());
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 5 res.setIndexes(id(), idx_q(), idx_v());
698 5 return res;
699 }
700
701 // data
702
703 ///
704 /// \brief 3d main axis of the joint.
705 ///
706 Vector3 axis;
707 }; // struct JointModelPrismaticUnalignedTpl
708
709 } // namespace pinocchio
710
711 #include <boost/type_traits.hpp>
712
713 namespace boost
714 {
715 template<typename Scalar, int Options>
716 struct has_nothrow_constructor<::pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options>>
717 : public integral_constant<bool, true>
718 {
719 };
720
721 template<typename Scalar, int Options>
722 struct has_nothrow_copy<::pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options>>
723 : public integral_constant<bool, true>
724 {
725 };
726
727 template<typename Scalar, int Options>
728 struct has_nothrow_constructor<::pinocchio::JointDataPrismaticUnalignedTpl<Scalar, Options>>
729 : public integral_constant<bool, true>
730 {
731 };
732
733 template<typename Scalar, int Options>
734 struct has_nothrow_copy<::pinocchio::JointDataPrismaticUnalignedTpl<Scalar, Options>>
735 : public integral_constant<bool, true>
736 {
737 };
738 } // namespace boost
739
740 #endif // ifndef __pinocchio_multibody_joint_prismatic_unaligned_hpp__
741