GCC Code Coverage Report

Directory: ./
File: include/pinocchio/multibody/joint/joint-prismatic.hpp
Date: 2024-08-27 18:20:05
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Lines: 49 171 28.7%
Branches: 14 190 7.4%
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1 //
2 // Copyright (c) 2015-2020 CNRS INRIA
3 // Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5
6 #ifndef __pinocchio_multibody_joint_prismatic_hpp__
7 #define __pinocchio_multibody_joint_prismatic_hpp__
8
9 #include "pinocchio/macros.hpp"
10 #include "pinocchio/multibody/joint/joint-base.hpp"
11 #include "pinocchio/multibody/joint-motion-subspace.hpp"
12 #include "pinocchio/spatial/inertia.hpp"
13 #include "pinocchio/spatial/spatial-axis.hpp"
14 #include "pinocchio/utils/axis-label.hpp"
15
16 namespace pinocchio
17 {
18
19 template<typename Scalar, int Options, int _axis>
20 struct MotionPrismaticTpl;
21
22 template<typename Scalar, int Options, int axis>
23 struct SE3GroupAction<MotionPrismaticTpl<Scalar, Options, axis>>
24 {
25 typedef MotionTpl<Scalar, Options> ReturnType;
26 };
27
28 template<typename Scalar, int Options, int axis, typename MotionDerived>
29 struct MotionAlgebraAction<MotionPrismaticTpl<Scalar, Options, axis>, MotionDerived>
30 {
31 typedef MotionTpl<Scalar, Options> ReturnType;
32 };
33
34 template<typename _Scalar, int _Options, int _axis>
35 struct traits<MotionPrismaticTpl<_Scalar, _Options, _axis>>
36 {
37 typedef _Scalar Scalar;
38 enum
39 {
40 Options = _Options
41 };
42 typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3;
43 typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6;
44 typedef Eigen::Matrix<Scalar, 4, 4, Options> Matrix4;
45 typedef Eigen::Matrix<Scalar, 6, 6, Options> Matrix6;
46 typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6) ToVectorConstReturnType;
47 typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6) ToVectorReturnType;
48 typedef Vector3 AngularType;
49 typedef Vector3 LinearType;
50 typedef const Vector3 ConstAngularType;
51 typedef const Vector3 ConstLinearType;
52 typedef Matrix6 ActionMatrixType;
53 typedef Matrix4 HomogeneousMatrixType;
54 typedef MotionTpl<Scalar, Options> MotionPlain;
55 typedef MotionPlain PlainReturnType;
56 enum
57 {
58 LINEAR = 0,
59 ANGULAR = 3
60 };
61 }; // struct traits MotionPrismaticTpl
62
63 template<typename _Scalar, int _Options, int _axis>
64 struct MotionPrismaticTpl : MotionBase<MotionPrismaticTpl<_Scalar, _Options, _axis>>
65 {
66 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
67 MOTION_TYPEDEF_TPL(MotionPrismaticTpl);
68
69 enum
70 {
71 axis = _axis
72 };
73
74 typedef SpatialAxis<_axis + LINEAR> Axis;
75 typedef typename Axis::CartesianAxis3 CartesianAxis3;
76
77 ✗ MotionPrismaticTpl()
78 {
79 }
80 134 MotionPrismaticTpl(const Scalar & v)
81 134 : m_v(v)
82 {
83 134 }
84
85 ✗ inline PlainReturnType plain() const
86 {
87 ✗ return Axis() * m_v;
88 }
89
90 template<typename OtherScalar>
91 ✗ MotionPrismaticTpl __mult__(const OtherScalar & alpha) const
92 {
93 ✗ return MotionPrismaticTpl(alpha * m_v);
94 }
95
96 template<typename Derived>
97 ✗ void addTo(MotionDense<Derived> & other) const
98 {
99 typedef typename MotionDense<Derived>::Scalar OtherScalar;
100 ✗ other.linear()[_axis] += (OtherScalar)m_v;
101 }
102
103 template<typename MotionDerived>
104 ✗ void setTo(MotionDense<MotionDerived> & other) const
105 {
106 ✗ for (Eigen::DenseIndex k = 0; k < 3; ++k)
107 {
108 ✗ other.linear()[k] = k == axis ? m_v : Scalar(0);
109 }
110 ✗ other.angular().setZero();
111 }
112
113 template<typename S2, int O2, typename D2>
114 ✗ void se3Action_impl(const SE3Tpl<S2, O2> & m, MotionDense<D2> & v) const
115 {
116 ✗ v.angular().setZero();
117 ✗ v.linear().noalias() = m_v * (m.rotation().col(axis));
118 }
119
120 template<typename S2, int O2>
121 ✗ MotionPlain se3Action_impl(const SE3Tpl<S2, O2> & m) const
122 {
123 ✗ MotionPlain res;
124 ✗ se3Action_impl(m, res);
125 ✗ return res;
126 }
127
128 template<typename S2, int O2, typename D2>
129 ✗ void se3ActionInverse_impl(const SE3Tpl<S2, O2> & m, MotionDense<D2> & v) const
130 {
131 // Linear
132 ✗ v.linear().noalias() = m_v * (m.rotation().transpose().col(axis));
133
134 // Angular
135 ✗ v.angular().setZero();
136 }
137
138 template<typename S2, int O2>
139 ✗ MotionPlain se3ActionInverse_impl(const SE3Tpl<S2, O2> & m) const
140 {
141 ✗ MotionPlain res;
142 ✗ se3ActionInverse_impl(m, res);
143 ✗ return res;
144 }
145
146 template<typename M1, typename M2>
147 ✗ void motionAction(const MotionDense<M1> & v, MotionDense<M2> & mout) const
148 {
149 // Linear
150 ✗ CartesianAxis3::alphaCross(-m_v, v.angular(), mout.linear());
151
152 // Angular
153 ✗ mout.angular().setZero();
154 }
155
156 template<typename M1>
157 ✗ MotionPlain motionAction(const MotionDense<M1> & v) const
158 {
159 ✗ MotionPlain res;
160 ✗ motionAction(v, res);
161 ✗ return res;
162 }
163
164 ✗ Scalar & linearRate()
165 {
166 ✗ return m_v;
167 }
168 const Scalar & linearRate() const
169 {
170 return m_v;
171 }
172
173 ✗ bool isEqual_impl(const MotionPrismaticTpl & other) const
174 {
175 ✗ return internal::comparison_eq(m_v, other.m_v);
176 }
177
178 protected:
179 Scalar m_v;
180 }; // struct MotionPrismaticTpl
181
182 template<typename Scalar, int Options, int axis, typename MotionDerived>
183 ✗ typename MotionDerived::MotionPlain operator+(
184 const MotionPrismaticTpl<Scalar, Options, axis> & m1, const MotionDense<MotionDerived> & m2)
185 {
186 ✗ typename MotionDerived::MotionPlain res(m2);
187 ✗ res += m1;
188 ✗ return res;
189 }
190
191 template<typename MotionDerived, typename S2, int O2, int axis>
192 EIGEN_STRONG_INLINE typename MotionDerived::MotionPlain
193 ✗ operator^(const MotionDense<MotionDerived> & m1, const MotionPrismaticTpl<S2, O2, axis> & m2)
194 {
195 ✗ return m2.motionAction(m1);
196 }
197
198 template<typename Scalar, int Options, int axis>
199 struct TransformPrismaticTpl;
200
201 template<typename _Scalar, int _Options, int _axis>
202 struct traits<TransformPrismaticTpl<_Scalar, _Options, _axis>>
203 {
204 enum
205 {
206 axis = _axis,
207 Options = _Options,
208 LINEAR = 0,
209 ANGULAR = 3
210 };
211 typedef _Scalar Scalar;
212 typedef SE3Tpl<Scalar, Options> PlainType;
213 typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3;
214 typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3;
215 typedef typename Matrix3::IdentityReturnType AngularType;
216 typedef AngularType AngularRef;
217 typedef AngularType ConstAngularRef;
218 typedef Vector3 LinearType;
219 typedef const Vector3 LinearRef;
220 typedef const Vector3 ConstLinearRef;
221 typedef typename traits<PlainType>::ActionMatrixType ActionMatrixType;
222 typedef typename traits<PlainType>::HomogeneousMatrixType HomogeneousMatrixType;
223 }; // traits TransformPrismaticTpl
224
225 template<typename Scalar, int Options, int axis>
226 struct SE3GroupAction<TransformPrismaticTpl<Scalar, Options, axis>>
227 {
228 typedef typename traits<TransformPrismaticTpl<Scalar, Options, axis>>::PlainType ReturnType;
229 };
230
231 template<typename _Scalar, int _Options, int axis>
232 struct TransformPrismaticTpl : SE3Base<TransformPrismaticTpl<_Scalar, _Options, axis>>
233 {
234 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
235 PINOCCHIO_SE3_TYPEDEF_TPL(TransformPrismaticTpl);
236
237 typedef SpatialAxis<axis + LINEAR> Axis;
238 typedef typename Axis::CartesianAxis3 CartesianAxis3;
239
240 ✗ TransformPrismaticTpl()
241 {
242 }
243 136 TransformPrismaticTpl(const Scalar & displacement)
244 136 : m_displacement(displacement)
245 {
246 136 }
247
248 2 PlainType plain() const
249 {
250 2 PlainType res(PlainType::Identity());
251 2 res.rotation().setIdentity();
252 2 res.translation()[axis] = m_displacement;
253
254 2 return res;
255 }
256
257 2 operator PlainType() const
258 {
259 2 return plain();
260 }
261
262 template<typename S2, int O2>
263 typename SE3GroupAction<TransformPrismaticTpl>::ReturnType
264 se3action(const SE3Tpl<S2, O2> & m) const
265 {
266 typedef typename SE3GroupAction<TransformPrismaticTpl>::ReturnType ReturnType;
267 ReturnType res(m);
268 res.translation()[axis] += m_displacement;
269
270 return res;
271 }
272
273 ✗ const Scalar & displacement() const
274 {
275 ✗ return m_displacement;
276 }
277 2 Scalar & displacement()
278 {
279 2 return m_displacement;
280 }
281
282 ✗ ConstLinearRef translation() const
283 {
284 ✗ return CartesianAxis3() * displacement();
285 };
286 ✗ AngularType rotation() const
287 {
288 ✗ return AngularType(3, 3);
289 }
290
291 ✗ bool isEqual(const TransformPrismaticTpl & other) const
292 {
293 ✗ return internal::comparison_eq(m_displacement, other.m_displacement);
294 }
295
296 protected:
297 Scalar m_displacement;
298 };
299
300 template<typename Scalar, int Options, int axis>
301 struct JointMotionSubspacePrismaticTpl;
302
303 template<typename _Scalar, int _Options, int axis>
304 struct traits<JointMotionSubspacePrismaticTpl<_Scalar, _Options, axis>>
305 {
306 typedef _Scalar Scalar;
307 enum
308 {
309 Options = _Options
310 };
311 enum
312 {
313 LINEAR = 0,
314 ANGULAR = 3
315 };
316 typedef MotionPrismaticTpl<Scalar, Options, axis> JointMotion;
317 typedef Eigen::Matrix<Scalar, 1, 1, Options> JointForce;
318 typedef Eigen::Matrix<Scalar, 6, 1, Options> DenseBase;
319 typedef Eigen::Matrix<Scalar, 1, 1, Options> ReducedSquaredMatrix;
320
321 typedef DenseBase MatrixReturnType;
322 typedef const DenseBase ConstMatrixReturnType;
323
324 typedef typename ReducedSquaredMatrix::IdentityReturnType StDiagonalMatrixSOperationReturnType;
325 }; // traits ConstraintRevolute
326
327 template<typename Scalar, int Options, int axis>
328 struct SE3GroupAction<JointMotionSubspacePrismaticTpl<Scalar, Options, axis>>
329 {
330 typedef Eigen::Matrix<Scalar, 6, 1, Options> ReturnType;
331 };
332
333 template<typename Scalar, int Options, int axis, typename MotionDerived>
334 struct MotionAlgebraAction<JointMotionSubspacePrismaticTpl<Scalar, Options, axis>, MotionDerived>
335 {
336 typedef Eigen::Matrix<Scalar, 6, 1, Options> ReturnType;
337 };
338
339 template<typename Scalar, int Options, int axis, typename ForceDerived>
340 struct ConstraintForceOp<JointMotionSubspacePrismaticTpl<Scalar, Options, axis>, ForceDerived>
341 {
342 typedef typename ForceDense<
343 ForceDerived>::ConstLinearType::template ConstFixedSegmentReturnType<1>::Type ReturnType;
344 };
345
346 template<typename Scalar, int Options, int axis, typename ForceSet>
347 struct ConstraintForceSetOp<JointMotionSubspacePrismaticTpl<Scalar, Options, axis>, ForceSet>
348 {
349 typedef typename Eigen::MatrixBase<ForceSet>::ConstRowXpr ReturnType;
350 };
351
352 template<typename _Scalar, int _Options, int axis>
353 struct JointMotionSubspacePrismaticTpl
354 : JointMotionSubspaceBase<JointMotionSubspacePrismaticTpl<_Scalar, _Options, axis>>
355 {
356 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
357 PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(JointMotionSubspacePrismaticTpl)
358 enum
359 {
360 NV = 1
361 };
362
363 typedef SpatialAxis<LINEAR + axis> Axis;
364
365 136 JointMotionSubspacePrismaticTpl() {};
366
367 template<typename Vector1Like>
368 10 JointMotion __mult__(const Eigen::MatrixBase<Vector1Like> & v) const
369 {
370 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector1Like, 1);
371
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 10 assert(v.size() == 1);
372 10 return JointMotion(v[0]);
373 }
374
375 template<typename S2, int O2>
376 typename SE3GroupAction<JointMotionSubspacePrismaticTpl>::ReturnType
377 ✗ se3Action(const SE3Tpl<S2, O2> & m) const
378 {
379 ✗ typename SE3GroupAction<JointMotionSubspacePrismaticTpl>::ReturnType res;
380 ✗ MotionRef<DenseBase> v(res);
381 ✗ v.linear() = m.rotation().col(axis);
382 ✗ v.angular().setZero();
383 ✗ return res;
384 }
385
386 template<typename S2, int O2>
387 typename SE3GroupAction<JointMotionSubspacePrismaticTpl>::ReturnType
388 ✗ se3ActionInverse(const SE3Tpl<S2, O2> & m) const
389 {
390 ✗ typename SE3GroupAction<JointMotionSubspacePrismaticTpl>::ReturnType res;
391 ✗ MotionRef<DenseBase> v(res);
392 ✗ v.linear() = m.rotation().transpose().col(axis);
393 ✗ v.angular().setZero();
394 ✗ return res;
395 }
396
397 ✗ int nv_impl() const
398 {
399 ✗ return NV;
400 }
401
402 struct TransposeConst : JointMotionSubspaceTransposeBase<JointMotionSubspacePrismaticTpl>
403 {
404 const JointMotionSubspacePrismaticTpl & ref;
405 ✗ TransposeConst(const JointMotionSubspacePrismaticTpl & ref)
406 ✗ : ref(ref)
407 {
408 }
409
410 template<typename ForceDerived>
411 typename ConstraintForceOp<JointMotionSubspacePrismaticTpl, ForceDerived>::ReturnType
412 ✗ operator*(const ForceDense<ForceDerived> & f) const
413 {
414 ✗ return f.linear().template segment<1>(axis);
415 }
416
417 /* [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */
418 template<typename Derived>
419 typename ConstraintForceSetOp<JointMotionSubspacePrismaticTpl, Derived>::ReturnType
420 ✗ operator*(const Eigen::MatrixBase<Derived> & F)
421 {
422 ✗ assert(F.rows() == 6);
423 ✗ return F.row(LINEAR + axis);
424 }
425
426 }; // struct TransposeConst
427 ✗ TransposeConst transpose() const
428 {
429 ✗ return TransposeConst(*this);
430 }
431
432 /* CRBA joint operators
433 * - ForceSet::Block = ForceSet
434 * - ForceSet operator* (Inertia Y,Constraint S)
435 * - MatrixBase operator* (Constraint::Transpose S, ForceSet::Block)
436 * - SE3::act(ForceSet::Block)
437 */
438 2 DenseBase matrix_impl() const
439 {
440
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 2 DenseBase S;
441
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 2 MotionRef<DenseBase> v(S);
442
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 2 v << Axis();
443 4 return S;
444 }
445
446 template<typename MotionDerived>
447 typename MotionAlgebraAction<JointMotionSubspacePrismaticTpl, MotionDerived>::ReturnType
448 ✗ motionAction(const MotionDense<MotionDerived> & m) const
449 {
450 ✗ typename MotionAlgebraAction<JointMotionSubspacePrismaticTpl, MotionDerived>::ReturnType res;
451 ✗ MotionRef<DenseBase> v(res);
452 ✗ v = m.cross(Axis());
453 ✗ return res;
454 }
455
456 ✗ bool isEqual(const JointMotionSubspacePrismaticTpl &) const
457 {
458 ✗ return true;
459 }
460
461 }; // struct JointMotionSubspacePrismaticTpl
462
463 template<typename S1, int O1, typename S2, int O2, int axis>
464 struct MultiplicationOp<InertiaTpl<S1, O1>, JointMotionSubspacePrismaticTpl<S2, O2, axis>>
465 {
466 typedef Eigen::Matrix<S2, 6, 1, O2> ReturnType;
467 };
468
469 /* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
470 namespace impl
471 {
472 template<typename S1, int O1, typename S2, int O2>
473 struct LhsMultiplicationOp<InertiaTpl<S1, O1>, JointMotionSubspacePrismaticTpl<S2, O2, 0>>
474 {
475 typedef InertiaTpl<S1, O1> Inertia;
476 typedef JointMotionSubspacePrismaticTpl<S2, O2, 0> Constraint;
477 typedef typename MultiplicationOp<Inertia, Constraint>::ReturnType ReturnType;
478 ✗ static inline ReturnType run(const Inertia & Y, const Constraint & /*constraint*/)
479 {
480 ✗ ReturnType res;
481
482 /* Y(:,0) = ( 1,0, 0, 0 , z , -y ) */
483 ✗ const S1 &m = Y.mass(), &y = Y.lever()[1], &z = Y.lever()[2];
484 ✗ res << m, S1(0), S1(0), S1(0), m * z, -m * y;
485
486 ✗ return res;
487 }
488 };
489
490 template<typename S1, int O1, typename S2, int O2>
491 struct LhsMultiplicationOp<InertiaTpl<S1, O1>, JointMotionSubspacePrismaticTpl<S2, O2, 1>>
492 {
493 typedef InertiaTpl<S1, O1> Inertia;
494 typedef JointMotionSubspacePrismaticTpl<S2, O2, 1> Constraint;
495 typedef typename MultiplicationOp<Inertia, Constraint>::ReturnType ReturnType;
496 ✗ static inline ReturnType run(const Inertia & Y, const Constraint & /*constraint*/)
497 {
498 ✗ ReturnType res;
499
500 /* Y(:,1) = ( 0,1, 0, -z , 0 , x) */
501 ✗ const S1 &m = Y.mass(), &x = Y.lever()[0], &z = Y.lever()[2];
502
503 ✗ res << S1(0), m, S1(0), -m * z, S1(0), m * x;
504
505 ✗ return res;
506 }
507 };
508
509 template<typename S1, int O1, typename S2, int O2>
510 struct LhsMultiplicationOp<InertiaTpl<S1, O1>, JointMotionSubspacePrismaticTpl<S2, O2, 2>>
511 {
512 typedef InertiaTpl<S1, O1> Inertia;
513 typedef JointMotionSubspacePrismaticTpl<S2, O2, 2> Constraint;
514 typedef typename MultiplicationOp<Inertia, Constraint>::ReturnType ReturnType;
515 ✗ static inline ReturnType run(const Inertia & Y, const Constraint & /*constraint*/)
516 {
517 ✗ ReturnType res;
518
519 /* Y(:,2) = ( 0,0, 1, y , -x , 0) */
520 ✗ const S1 &m = Y.mass(), &x = Y.lever()[0], &y = Y.lever()[1];
521
522 ✗ res << S1(0), S1(0), m, m * y, -m * x, S1(0);
523
524 ✗ return res;
525 }
526 };
527 } // namespace impl
528
529 template<typename M6Like, typename S2, int O2, int axis>
530 struct MultiplicationOp<Eigen::MatrixBase<M6Like>, JointMotionSubspacePrismaticTpl<S2, O2, axis>>
531 {
532 typedef typename M6Like::ConstColXpr ReturnType;
533 };
534
535 /* [ABA] operator* (Inertia Y,Constraint S) */
536 namespace impl
537 {
538 template<typename M6Like, typename Scalar, int Options, int axis>
539 struct LhsMultiplicationOp<
540 Eigen::MatrixBase<M6Like>,
541 JointMotionSubspacePrismaticTpl<Scalar, Options, axis>>
542 {
543 typedef JointMotionSubspacePrismaticTpl<Scalar, Options, axis> Constraint;
544 typedef
545 typename MultiplicationOp<Eigen::MatrixBase<M6Like>, Constraint>::ReturnType ReturnType;
546 static inline ReturnType
547 ✗ run(const Eigen::MatrixBase<M6Like> & Y, const Constraint & /*constraint*/)
548 {
549 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(M6Like, 6, 6);
550 ✗ return Y.derived().col(Inertia::LINEAR + axis);
551 }
552 };
553 } // namespace impl
554
555 template<typename _Scalar, int _Options, int _axis>
556 struct JointPrismaticTpl
557 {
558 typedef _Scalar Scalar;
559
560 enum
561 {
562 Options = _Options,
563 axis = _axis
564 };
565 };
566
567 template<typename _Scalar, int _Options, int axis>
568 struct traits<JointPrismaticTpl<_Scalar, _Options, axis>>
569 {
570 enum
571 {
572 NQ = 1,
573 NV = 1
574 };
575 typedef _Scalar Scalar;
576 enum
577 {
578 Options = _Options
579 };
580 typedef JointDataPrismaticTpl<Scalar, Options, axis> JointDataDerived;
581 typedef JointModelPrismaticTpl<Scalar, Options, axis> JointModelDerived;
582 typedef JointMotionSubspacePrismaticTpl<Scalar, Options, axis> Constraint_t;
583 typedef TransformPrismaticTpl<Scalar, Options, axis> Transformation_t;
584 typedef MotionPrismaticTpl<Scalar, Options, axis> Motion_t;
585 typedef MotionZeroTpl<Scalar, Options> Bias_t;
586
587 // [ABA]
588 typedef Eigen::Matrix<Scalar, 6, NV, Options> U_t;
589 typedef Eigen::Matrix<Scalar, NV, NV, Options> D_t;
590 typedef Eigen::Matrix<Scalar, 6, NV, Options> UD_t;
591
592 typedef Eigen::Matrix<Scalar, NQ, 1, Options> ConfigVector_t;
593 typedef Eigen::Matrix<Scalar, NV, 1, Options> TangentVector_t;
594
595 PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE
596 };
597
598 template<typename _Scalar, int _Options, int axis>
599 struct traits<JointDataPrismaticTpl<_Scalar, _Options, axis>>
600 {
601 typedef JointPrismaticTpl<_Scalar, _Options, axis> JointDerived;
602 typedef _Scalar Scalar;
603 };
604
605 template<typename _Scalar, int _Options, int axis>
606 struct traits<JointModelPrismaticTpl<_Scalar, _Options, axis>>
607 {
608 typedef JointPrismaticTpl<_Scalar, _Options, axis> JointDerived;
609 typedef _Scalar Scalar;
610 };
611
612 template<typename _Scalar, int _Options, int axis>
613 struct JointDataPrismaticTpl
614 : public JointDataBase<JointDataPrismaticTpl<_Scalar, _Options, axis>>
615 {
616 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
617 typedef JointPrismaticTpl<_Scalar, _Options, axis> JointDerived;
618 PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived);
619 8 PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR
620
621 ConfigVector_t joint_q;
622 TangentVector_t joint_v;
623
624 Constraint_t S;
625 Transformation_t M;
626 Motion_t v;
627 Bias_t c;
628
629 // [ABA] specific data
630 U_t U;
631 D_t Dinv;
632 UD_t UDinv;
633 D_t StU;
634
635 136 JointDataPrismaticTpl()
636
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 136 : joint_q(ConfigVector_t::Zero())
637
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 136 , joint_v(TangentVector_t::Zero())
638 136 , M((Scalar)0)
639 136 , v((Scalar)0)
640
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 136 , U(U_t::Zero())
641
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 136 , Dinv(D_t::Zero())
642
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 136 , UDinv(UD_t::Zero())
643
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 408 , StU(D_t::Zero())
644 {
645 136 }
646
647 240 static std::string classname()
648 {
649
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 480 return std::string("JointDataP") + axisLabel<axis>();
650 }
651 ✗ std::string shortname() const
652 {
653 ✗ return classname();
654 }
655
656 }; // struct JointDataPrismaticTpl
657
658 template<typename NewScalar, typename Scalar, int Options, int axis>
659 struct CastType<NewScalar, JointModelPrismaticTpl<Scalar, Options, axis>>
660 {
661 typedef JointModelPrismaticTpl<NewScalar, Options, axis> type;
662 };
663
664 template<typename _Scalar, int _Options, int axis>
665 struct JointModelPrismaticTpl
666 : public JointModelBase<JointModelPrismaticTpl<_Scalar, _Options, axis>>
667 {
668 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
669 typedef JointPrismaticTpl<_Scalar, _Options, axis> JointDerived;
670 PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived);
671
672 typedef JointModelBase<JointModelPrismaticTpl> Base;
673 using Base::id;
674 using Base::idx_q;
675 using Base::idx_v;
676 using Base::setIndexes;
677
678 typedef Eigen::Matrix<Scalar, 3, 1, _Options> Vector3;
679
680 22 JointDataDerived createData() const
681 {
682 22 return JointDataDerived();
683 }
684
685 ✗ const std::vector<bool> hasConfigurationLimit() const
686 {
687 ✗ return {true};
688 }
689
690 ✗ const std::vector<bool> hasConfigurationLimitInTangent() const
691 {
692 ✗ return {true};
693 }
694
695 template<typename ConfigVector>
696 2 void calc(JointDataDerived & data, const typename Eigen::MatrixBase<ConfigVector> & qs) const
697 {
698 2 data.joint_q[0] = qs[idx_q()];
699 2 data.M.displacement() = data.joint_q[0];
700 }
701
702 template<typename TangentVector>
703 void
704 ✗ calc(JointDataDerived & data, const Blank, const typename Eigen::MatrixBase<TangentVector> & vs)
705 const
706 {
707 ✗ data.joint_v[0] = vs[idx_v()];
708 ✗ data.v.linearRate() = data.joint_v[0];
709 }
710
711 template<typename ConfigVector, typename TangentVector>
712 18 void calc(
713 JointDataDerived & data,
714 const typename Eigen::MatrixBase<ConfigVector> & qs,
715 const typename Eigen::MatrixBase<TangentVector> & vs) const
716 {
717 18 calc(data, qs.derived());
718
719 18 data.joint_v[0] = vs[idx_v()];
720 18 data.v.linearRate() = data.joint_v[0];
721 }
722
723 template<typename VectorLike, typename Matrix6Like>
724 ✗ void calc_aba(
725 JointDataDerived & data,
726 const Eigen::MatrixBase<VectorLike> & armature,
727 const Eigen::MatrixBase<Matrix6Like> & I,
728 const bool update_I) const
729 {
730 ✗ data.U = I.col(Inertia::LINEAR + axis);
731 ✗ data.Dinv[0] = Scalar(1) / (I(Inertia::LINEAR + axis, Inertia::LINEAR + axis) + armature[0]);
732 ✗ data.UDinv.noalias() = data.U * data.Dinv[0];
733
734 ✗ if (update_I)
735 ✗ PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like, I).noalias() -= data.UDinv * data.U.transpose();
736 }
737
738 248 static std::string classname()
739 {
740
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 496 return std::string("JointModelP") + axisLabel<axis>();
741 }
742 ✗ std::string shortname() const
743 {
744 4 return classname();
745 }
746
747 ✗ Vector3 getMotionAxis() const
748 {
749 switch (axis)
750 {
751 case 0:
752 ✗ return Vector3::UnitX();
753 case 1:
754 ✗ return Vector3::UnitY();
755 case 2:
756 ✗ return Vector3::UnitZ();
757 default:
758 assert(false && "must never happen");
759 break;
760 }
761 }
762
763 /// \returns An expression of *this with the Scalar type casted to NewScalar.
764 template<typename NewScalar>
765 ✗ JointModelPrismaticTpl<NewScalar, Options, axis> cast() const
766 {
767 typedef JointModelPrismaticTpl<NewScalar, Options, axis> ReturnType;
768 ✗ ReturnType res;
769 ✗ res.setIndexes(id(), idx_q(), idx_v());
770 ✗ return res;
771 }
772
773 }; // struct JointModelPrismaticTpl
774
775 typedef JointPrismaticTpl<context::Scalar, context::Options, 0> JointPX;
776 typedef JointDataPrismaticTpl<context::Scalar, context::Options, 0> JointDataPX;
777 typedef JointModelPrismaticTpl<context::Scalar, context::Options, 0> JointModelPX;
778
779 typedef JointPrismaticTpl<context::Scalar, context::Options, 1> JointPY;
780 typedef JointDataPrismaticTpl<context::Scalar, context::Options, 1> JointDataPY;
781 typedef JointModelPrismaticTpl<context::Scalar, context::Options, 1> JointModelPY;
782
783 typedef JointPrismaticTpl<context::Scalar, context::Options, 2> JointPZ;
784 typedef JointDataPrismaticTpl<context::Scalar, context::Options, 2> JointDataPZ;
785 typedef JointModelPrismaticTpl<context::Scalar, context::Options, 2> JointModelPZ;
786
787 } // namespace pinocchio
788
789 #include <boost/type_traits.hpp>
790
791 namespace boost
792 {
793 template<typename Scalar, int Options, int axis>
794 struct has_nothrow_constructor<::pinocchio::JointModelPrismaticTpl<Scalar, Options, axis>>
795 : public integral_constant<bool, true>
796 {
797 };
798
799 template<typename Scalar, int Options, int axis>
800 struct has_nothrow_copy<::pinocchio::JointModelPrismaticTpl<Scalar, Options, axis>>
801 : public integral_constant<bool, true>
802 {
803 };
804
805 template<typename Scalar, int Options, int axis>
806 struct has_nothrow_constructor<::pinocchio::JointDataPrismaticTpl<Scalar, Options, axis>>
807 : public integral_constant<bool, true>
808 {
809 };
810
811 template<typename Scalar, int Options, int axis>
812 struct has_nothrow_copy<::pinocchio::JointDataPrismaticTpl<Scalar, Options, axis>>
813 : public integral_constant<bool, true>
814 {
815 };
816 } // namespace boost
817
818 #endif // ifndef __pinocchio_multibody_joint_prismatic_hpp__
819