GCC Code Coverage Report

Directory: ./
File: include/pinocchio/multibody/joint/joint-revolute.hpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 218 222 98.2%
Branches: 245 478 51.3%
Line Branch Exec Source
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_revolute_hpp__
7 #define __pinocchio_multibody_joint_revolute_hpp__
8
9 #include "pinocchio/math/sincos.hpp"
10 #include "pinocchio/spatial/inertia.hpp"
11 #include "pinocchio/multibody/joint-motion-subspace.hpp"
12 #include "pinocchio/multibody/joint/joint-base.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 MotionRevoluteTpl;
21
22 template<typename Scalar, int Options, int axis>
23 struct SE3GroupAction<MotionRevoluteTpl<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<MotionRevoluteTpl<Scalar, Options, axis>, MotionDerived>
30 {
31 typedef MotionTpl<Scalar, Options> ReturnType;
32 };
33
34 template<typename _Scalar, int _Options, int axis>
35 struct traits<MotionRevoluteTpl<_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 }; // traits MotionRevoluteTpl
62
63 template<typename Scalar, int Options, int axis>
64 struct TransformRevoluteTpl;
65
66 template<typename _Scalar, int _Options, int _axis>
67 struct traits<TransformRevoluteTpl<_Scalar, _Options, _axis>>
68 {
69 enum
70 {
71 axis = _axis,
72 Options = _Options,
73 LINEAR = 0,
74 ANGULAR = 3
75 };
76 typedef _Scalar Scalar;
77 typedef SE3Tpl<Scalar, Options> PlainType;
78 typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3;
79 typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3;
80 typedef Matrix3 AngularType;
81 typedef Matrix3 AngularRef;
82 typedef Matrix3 ConstAngularRef;
83 typedef typename Vector3::ConstantReturnType LinearType;
84 typedef typename Vector3::ConstantReturnType LinearRef;
85 typedef const typename Vector3::ConstantReturnType ConstLinearRef;
86 typedef typename traits<PlainType>::ActionMatrixType ActionMatrixType;
87 typedef typename traits<PlainType>::HomogeneousMatrixType HomogeneousMatrixType;
88 }; // traits TransformRevoluteTpl
89
90 template<typename Scalar, int Options, int axis>
91 struct SE3GroupAction<TransformRevoluteTpl<Scalar, Options, axis>>
92 {
93 typedef typename traits<TransformRevoluteTpl<Scalar, Options, axis>>::PlainType ReturnType;
94 };
95
96 template<typename _Scalar, int _Options, int axis>
97 struct TransformRevoluteTpl : SE3Base<TransformRevoluteTpl<_Scalar, _Options, axis>>
98 {
99 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
100 PINOCCHIO_SE3_TYPEDEF_TPL(TransformRevoluteTpl);
101
102 126 TransformRevoluteTpl()
103 {
104 126 }
105 81877 TransformRevoluteTpl(const Scalar & sin, const Scalar & cos)
106 82380 : m_sin(sin)
107
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 82380 , m_cos(cos)
108 {
109 82380 }
110
111 1326678 PlainType plain() const
112 {
113 1326678 PlainType res(PlainType::Identity());
114
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 1326678 _setRotation(res.rotation());
115 1326678 return res;
116 }
117
118 1326678 operator PlainType() const
119 {
120 1326678 return plain();
121 }
122
123 template<typename S2, int O2>
124 typename SE3GroupAction<TransformRevoluteTpl>::ReturnType
125 se3action(const SE3Tpl<S2, O2> & m) const
126 {
127 typedef typename SE3GroupAction<TransformRevoluteTpl>::ReturnType ReturnType;
128 ReturnType res;
129 switch (axis)
130 {
131 case 0: {
132 res.rotation().col(0) = m.rotation().col(0);
133 res.rotation().col(1).noalias() = m_cos * m.rotation().col(1) + m_sin * m.rotation().col(2);
134 res.rotation().col(2).noalias() = res.rotation().col(0).cross(res.rotation().col(1));
135 break;
136 }
137 case 1: {
138 res.rotation().col(2).noalias() = m_cos * m.rotation().col(2) + m_sin * m.rotation().col(0);
139 res.rotation().col(1) = m.rotation().col(1);
140 res.rotation().col(0).noalias() = res.rotation().col(1).cross(res.rotation().col(2));
141 break;
142 }
143 case 2: {
144 res.rotation().col(0).noalias() = m_cos * m.rotation().col(0) + m_sin * m.rotation().col(1);
145 res.rotation().col(1).noalias() = res.rotation().col(2).cross(res.rotation().col(0));
146 res.rotation().col(2) = m.rotation().col(2);
147 break;
148 }
149 default: {
150 assert(false && "must never happened");
151 break;
152 }
153 }
154 res.translation() = m.translation();
155 return res;
156 }
157
158 const Scalar & sin() const
159 {
160 return m_sin;
161 }
162 1508 Scalar & sin()
163 {
164 1508 return m_sin;
165 }
166
167 const Scalar & cos() const
168 {
169 return m_cos;
170 }
171 1508 Scalar & cos()
172 {
173 1508 return m_cos;
174 }
175
176 template<typename OtherScalar>
177 1325632 void setValues(const OtherScalar & sin, const OtherScalar & cos)
178 {
179 1325632 m_sin = sin;
180 1325632 m_cos = cos;
181 1325632 }
182
183 18 LinearType translation() const
184 {
185 18 return LinearType::PlainObject::Zero(3);
186 }
187 9 AngularType rotation() const
188 {
189
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 18 AngularType m(AngularType::Identity());
190 18 _setRotation(m);
191 18 return m;
192 }
193
194 948 bool isEqual(const TransformRevoluteTpl & other) const
195 {
196 948 return internal::comparison_eq(m_cos, other.m_cos)
197
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 948 && internal::comparison_eq(m_sin, other.m_sin);
198 }
199
200 protected:
201 Scalar m_sin, m_cos;
202 1326696 inline void _setRotation(typename PlainType::AngularRef & rot) const
203 {
204 switch (axis)
205 {
206 case 0: {
207 406384 rot.coeffRef(1, 1) = m_cos;
208
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 406384 rot.coeffRef(1, 2) = -m_sin;
209 406384 rot.coeffRef(2, 1) = m_sin;
210 406384 rot.coeffRef(2, 2) = m_cos;
211 406384 break;
212 }
213 case 1: {
214 622798 rot.coeffRef(0, 0) = m_cos;
215 622798 rot.coeffRef(0, 2) = m_sin;
216
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 622798 rot.coeffRef(2, 0) = -m_sin;
217 622798 rot.coeffRef(2, 2) = m_cos;
218 622798 break;
219 }
220 case 2: {
221 297514 rot.coeffRef(0, 0) = m_cos;
222
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 297514 rot.coeffRef(0, 1) = -m_sin;
223 297514 rot.coeffRef(1, 0) = m_sin;
224 297514 rot.coeffRef(1, 1) = m_cos;
225 297514 break;
226 }
227 default: {
228 assert(false && "must never happened");
229 break;
230 }
231 }
232 1326696 }
233 };
234
235 template<typename _Scalar, int _Options, int axis>
236 struct MotionRevoluteTpl : MotionBase<MotionRevoluteTpl<_Scalar, _Options, axis>>
237 {
238 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
239
240 MOTION_TYPEDEF_TPL(MotionRevoluteTpl);
241 typedef SpatialAxis<axis + ANGULAR> Axis;
242 typedef typename Axis::CartesianAxis3 CartesianAxis3;
243
244 126 MotionRevoluteTpl()
245 {
246 126 }
247
248 176304 MotionRevoluteTpl(const Scalar & w)
249 176304 : m_w(w)
250 {
251 176304 }
252
253 template<typename Vector1Like>
254 MotionRevoluteTpl(const Eigen::MatrixBase<Vector1Like> & v)
255 : m_w(v[0])
256 {
257 using namespace Eigen;
258 EIGEN_STATIC_ASSERT_SIZE_1x1(Vector1Like);
259 }
260
261 13814 inline PlainReturnType plain() const
262 {
263
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 27628 return Axis() * m_w;
264 }
265
266 template<typename OtherScalar>
267 18 MotionRevoluteTpl __mult__(const OtherScalar & alpha) const
268 {
269
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 18 return MotionRevoluteTpl(alpha * m_w);
270 }
271
272 template<typename MotionDerived>
273 121566 void setTo(MotionDense<MotionDerived> & m) const
274 {
275
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 121566 m.linear().setZero();
276
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 486264 for (Eigen::DenseIndex k = 0; k < 3; ++k)
277 {
278
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 364698 m.angular()[k] = k == axis ? m_w : Scalar(0);
279 }
280 121566 }
281
282 template<typename MotionDerived>
283 93650 inline void addTo(MotionDense<MotionDerived> & v) const
284 {
285 typedef typename MotionDense<MotionDerived>::Scalar OtherScalar;
286
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 93650 v.angular()[axis] += (OtherScalar)m_w;
287 93650 }
288
289 template<typename S2, int O2, typename D2>
290 84742 inline void se3Action_impl(const SE3Tpl<S2, O2> & m, MotionDense<D2> & v) const
291 {
292
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 84742 v.angular().noalias() = m.rotation().col(axis) * m_w;
293
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 84742 v.linear().noalias() = m.translation().cross(v.angular());
294 84742 }
295
296 template<typename S2, int O2>
297 84742 MotionPlain se3Action_impl(const SE3Tpl<S2, O2> & m) const
298 {
299 84742 MotionPlain res;
300
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 84742 se3Action_impl(m, res);
301 84742 return res;
302 }
303
304 template<typename S2, int O2, typename D2>
305 72 void se3ActionInverse_impl(const SE3Tpl<S2, O2> & m, MotionDense<D2> & v) const
306 {
307 // Linear
308
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 72 CartesianAxis3::alphaCross(m_w, m.translation(), v.angular());
309
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 72 v.linear().noalias() = m.rotation().transpose() * v.angular();
310
311 // Angular
312
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 72 v.angular().noalias() = m.rotation().transpose().col(axis) * m_w;
313 72 }
314
315 template<typename S2, int O2>
316 72 MotionPlain se3ActionInverse_impl(const SE3Tpl<S2, O2> & m) const
317 {
318 72 MotionPlain res;
319
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 72 se3ActionInverse_impl(m, res);
320 72 return res;
321 }
322
323 template<typename M1, typename M2>
324 106600 EIGEN_STRONG_INLINE void motionAction(const MotionDense<M1> & v, MotionDense<M2> & mout) const
325 {
326 // Linear
327
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 106600 CartesianAxis3::alphaCross(-m_w, v.linear(), mout.linear());
328
329 // Angular
330
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 106600 CartesianAxis3::alphaCross(-m_w, v.angular(), mout.angular());
331 106600 }
332
333 template<typename M1>
334 106600 MotionPlain motionAction(const MotionDense<M1> & v) const
335 {
336 106600 MotionPlain res;
337
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 106600 motionAction(v, res);
338 106600 return res;
339 }
340
341 220120 Scalar & angularRate()
342 {
343 220120 return m_w;
344 }
345 const Scalar & angularRate() const
346 {
347 return m_w;
348 }
349
350 948 bool isEqual_impl(const MotionRevoluteTpl & other) const
351 {
352 948 return internal::comparison_eq(m_w, other.m_w);
353 }
354
355 protected:
356 Scalar m_w;
357 }; // struct MotionRevoluteTpl
358
359 template<typename S1, int O1, int axis, typename MotionDerived>
360 typename MotionDerived::MotionPlain
361 61776 operator+(const MotionRevoluteTpl<S1, O1, axis> & m1, const MotionDense<MotionDerived> & m2)
362 {
363 61776 typename MotionDerived::MotionPlain res(m2);
364
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 61776 res += m1;
365 61776 return res;
366 }
367
368 template<typename MotionDerived, typename S2, int O2, int axis>
369 EIGEN_STRONG_INLINE typename MotionDerived::MotionPlain
370 106588 operator^(const MotionDense<MotionDerived> & m1, const MotionRevoluteTpl<S2, O2, axis> & m2)
371 {
372 106588 return m2.motionAction(m1);
373 }
374
375 template<typename Scalar, int Options, int axis>
376 struct JointMotionSubspaceRevoluteTpl;
377
378 template<typename Scalar, int Options, int axis>
379 struct SE3GroupAction<JointMotionSubspaceRevoluteTpl<Scalar, Options, axis>>
380 {
381 typedef Eigen::Matrix<Scalar, 6, 1, Options> ReturnType;
382 };
383
384 template<typename Scalar, int Options, int axis, typename MotionDerived>
385 struct MotionAlgebraAction<JointMotionSubspaceRevoluteTpl<Scalar, Options, axis>, MotionDerived>
386 {
387 typedef Eigen::Matrix<Scalar, 6, 1, Options> ReturnType;
388 };
389
390 template<typename Scalar, int Options, int axis, typename ForceDerived>
391 struct ConstraintForceOp<JointMotionSubspaceRevoluteTpl<Scalar, Options, axis>, ForceDerived>
392 {
393 typedef typename ForceDense<
394 ForceDerived>::ConstAngularType::template ConstFixedSegmentReturnType<1>::Type ReturnType;
395 };
396
397 template<typename Scalar, int Options, int axis, typename ForceSet>
398 struct ConstraintForceSetOp<JointMotionSubspaceRevoluteTpl<Scalar, Options, axis>, ForceSet>
399 {
400 typedef typename Eigen::MatrixBase<ForceSet>::ConstRowXpr ReturnType;
401 };
402
403 template<typename _Scalar, int _Options, int axis>
404 struct traits<JointMotionSubspaceRevoluteTpl<_Scalar, _Options, axis>>
405 {
406 typedef _Scalar Scalar;
407 enum
408 {
409 Options = _Options
410 };
411 enum
412 {
413 LINEAR = 0,
414 ANGULAR = 3
415 };
416
417 typedef MotionRevoluteTpl<Scalar, Options, axis> JointMotion;
418 typedef Eigen::Matrix<Scalar, 1, 1, Options> JointForce;
419 typedef Eigen::Matrix<Scalar, 6, 1, Options> DenseBase;
420 typedef Eigen::Matrix<Scalar, 1, 1, Options> ReducedSquaredMatrix;
421
422 typedef DenseBase MatrixReturnType;
423 typedef const DenseBase ConstMatrixReturnType;
424
425 typedef typename ReducedSquaredMatrix::IdentityReturnType StDiagonalMatrixSOperationReturnType;
426 }; // traits JointMotionSubspaceRevoluteTpl
427
428 template<typename _Scalar, int _Options, int axis>
429 struct JointMotionSubspaceRevoluteTpl
430 : JointMotionSubspaceBase<JointMotionSubspaceRevoluteTpl<_Scalar, _Options, axis>>
431 {
432 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
433
434 PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(JointMotionSubspaceRevoluteTpl)
435 enum
436 {
437 NV = 1
438 };
439
440 typedef SpatialAxis<ANGULAR + axis> Axis;
441
442 83468 JointMotionSubspaceRevoluteTpl()
443 {
444 83468 }
445
446 template<typename Vector1Like>
447 93900 JointMotion __mult__(const Eigen::MatrixBase<Vector1Like> & v) const
448 {
449
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 93900 return JointMotion(v[0]);
450 }
451
452 template<typename S1, int O1>
453 typename SE3GroupAction<JointMotionSubspaceRevoluteTpl>::ReturnType
454 133166 se3Action(const SE3Tpl<S1, O1> & m) const
455 {
456 typedef typename SE3GroupAction<JointMotionSubspaceRevoluteTpl>::ReturnType ReturnType;
457 133166 ReturnType res;
458
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 133166 res.template segment<3>(LINEAR) = m.translation().cross(m.rotation().col(axis));
459
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 133166 res.template segment<3>(ANGULAR) = m.rotation().col(axis);
460 133166 return res;
461 }
462
463 template<typename S1, int O1>
464 typename SE3GroupAction<JointMotionSubspaceRevoluteTpl>::ReturnType
465 4766 se3ActionInverse(const SE3Tpl<S1, O1> & m) const
466 {
467 typedef typename SE3GroupAction<JointMotionSubspaceRevoluteTpl>::ReturnType ReturnType;
468 typedef typename Axis::CartesianAxis3 CartesianAxis3;
469 4766 ReturnType res;
470
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 4766 res.template segment<3>(LINEAR).noalias() =
471
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 4770 m.rotation().transpose() * CartesianAxis3::cross(m.translation());
472
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 4766 res.template segment<3>(ANGULAR) = m.rotation().transpose().col(axis);
473 4766 return res;
474 }
475
476 366 int nv_impl() const
477 {
478 366 return NV;
479 }
480
481 struct TransposeConst : JointMotionSubspaceTransposeBase<JointMotionSubspaceRevoluteTpl>
482 {
483 const JointMotionSubspaceRevoluteTpl & ref;
484 50250 TransposeConst(const JointMotionSubspaceRevoluteTpl & ref)
485 50250 : ref(ref)
486 {
487 50250 }
488
489 template<typename ForceDerived>
490 typename ConstraintForceOp<JointMotionSubspaceRevoluteTpl, ForceDerived>::ReturnType
491 48598 operator*(const ForceDense<ForceDerived> & f) const
492 {
493
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 48598 return f.angular().template segment<1>(axis);
494 }
495
496 /// [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block)
497 template<typename Derived>
498 typename ConstraintForceSetOp<JointMotionSubspaceRevoluteTpl, Derived>::ReturnType
499 1634 operator*(const Eigen::MatrixBase<Derived> & F) const
500 {
501
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 1634 assert(F.rows() == 6);
502 1634 return F.row(ANGULAR + axis);
503 }
504 }; // struct TransposeConst
505
506 50250 TransposeConst transpose() const
507 {
508 50250 return TransposeConst(*this);
509 }
510
511 /* CRBA joint operators
512 * - ForceSet::Block = ForceSet
513 * - ForceSet operator* (Inertia Y,Constraint S)
514 * - MatrixBase operator* (Constraint::Transpose S, ForceSet::Block)
515 * - SE3::act(ForceSet::Block)
516 */
517 1560 DenseBase matrix_impl() const
518 {
519
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 1560 DenseBase S;
520
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 1560 MotionRef<DenseBase> v(S);
521
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 1560 v << Axis();
522 3120 return S;
523 }
524
525 template<typename MotionDerived>
526 typename MotionAlgebraAction<JointMotionSubspaceRevoluteTpl, MotionDerived>::ReturnType
527 228 motionAction(const MotionDense<MotionDerived> & m) const
528 {
529 typedef
530 typename MotionAlgebraAction<JointMotionSubspaceRevoluteTpl, MotionDerived>::ReturnType
531 ReturnType;
532
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 228 ReturnType res;
533
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 228 MotionRef<ReturnType> v(res);
534
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 228 v = m.cross(Axis());
535 456 return res;
536 }
537
538 948 bool isEqual(const JointMotionSubspaceRevoluteTpl &) const
539 {
540 948 return true;
541 }
542
543 }; // struct JointMotionSubspaceRevoluteTpl
544
545 template<typename _Scalar, int _Options, int _axis>
546 struct JointRevoluteTpl
547 {
548 typedef _Scalar Scalar;
549
550 enum
551 {
552 Options = _Options,
553 axis = _axis
554 };
555 };
556
557 template<typename S1, int O1, typename S2, int O2, int axis>
558 struct MultiplicationOp<InertiaTpl<S1, O1>, JointMotionSubspaceRevoluteTpl<S2, O2, axis>>
559 {
560 typedef Eigen::Matrix<S2, 6, 1, O2> ReturnType;
561 };
562
563 /* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
564 namespace impl
565 {
566 template<typename S1, int O1, typename S2, int O2>
567 struct LhsMultiplicationOp<InertiaTpl<S1, O1>, JointMotionSubspaceRevoluteTpl<S2, O2, 0>>
568 {
569 typedef InertiaTpl<S1, O1> Inertia;
570 typedef JointMotionSubspaceRevoluteTpl<S2, O2, 0> Constraint;
571 typedef typename MultiplicationOp<Inertia, Constraint>::ReturnType ReturnType;
572 188 static inline ReturnType run(const Inertia & Y, const Constraint & /*constraint*/)
573 {
574
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 188 ReturnType res;
575
576 /* Y(:,3) = ( 0,-z, y, I00+yy+zz, I01-xy , I02-xz ) */
577
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 188 const S1 &m = Y.mass(), &x = Y.lever()[0], &y = Y.lever()[1], &z = Y.lever()[2];
578 188 const typename Inertia::Symmetric3 & I = Y.inertia();
579
580
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 196 res << (S2)0, -m * z, m * y, I(0, 0) + m * (y * y + z * z), I(0, 1) - m * x * y,
581
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 188 I(0, 2) - m * x * z;
582
583 376 return res;
584 8 }
585 };
586
587 template<typename S1, int O1, typename S2, int O2>
588 struct LhsMultiplicationOp<InertiaTpl<S1, O1>, JointMotionSubspaceRevoluteTpl<S2, O2, 1>>
589 {
590 typedef InertiaTpl<S1, O1> Inertia;
591 typedef JointMotionSubspaceRevoluteTpl<S2, O2, 1> Constraint;
592 typedef typename MultiplicationOp<Inertia, Constraint>::ReturnType ReturnType;
593 296 static inline ReturnType run(const Inertia & Y, const Constraint & /*constraint*/)
594 {
595
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 296 ReturnType res;
596
597 /* Y(:,4) = ( z, 0,-x, I10-xy , I11+xx+zz, I12-yz ) */
598
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 296 const S1 &m = Y.mass(), &x = Y.lever()[0], &y = Y.lever()[1], &z = Y.lever()[2];
599 296 const typename Inertia::Symmetric3 & I = Y.inertia();
600
601
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 309 res << m * z, (S2)0, -m * x, I(1, 0) - m * x * y, I(1, 1) + m * (x * x + z * z),
602
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 296 I(1, 2) - m * y * z;
603
604 592 return res;
605 13 }
606 };
607
608 template<typename S1, int O1, typename S2, int O2>
609 struct LhsMultiplicationOp<InertiaTpl<S1, O1>, JointMotionSubspaceRevoluteTpl<S2, O2, 2>>
610 {
611 typedef InertiaTpl<S1, O1> Inertia;
612 typedef JointMotionSubspaceRevoluteTpl<S2, O2, 2> Constraint;
613 typedef typename MultiplicationOp<Inertia, Constraint>::ReturnType ReturnType;
614 120 static inline ReturnType run(const Inertia & Y, const Constraint & /*constraint*/)
615 {
616
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 120 ReturnType res;
617
618 /* Y(:,5) = (-y, x, 0, I20-xz , I21-yz , I22+xx+yy) */
619
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 120 const S1 &m = Y.mass(), &x = Y.lever()[0], &y = Y.lever()[1], &z = Y.lever()[2];
620 120 const typename Inertia::Symmetric3 & I = Y.inertia();
621
622
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 125 res << -m * y, m * x, (S2)0, I(2, 0) - m * x * z, I(2, 1) - m * y * z,
623
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 120 I(2, 2) + m * (x * x + y * y);
624
625 240 return res;
626 5 }
627 };
628 } // namespace impl
629
630 template<typename M6Like, typename S2, int O2, int axis>
631 struct MultiplicationOp<Eigen::MatrixBase<M6Like>, JointMotionSubspaceRevoluteTpl<S2, O2, axis>>
632 {
633 typedef typename M6Like::ConstColXpr ReturnType;
634 };
635
636 /* [ABA] operator* (Inertia Y,Constraint S) */
637 namespace impl
638 {
639 template<typename M6Like, typename Scalar, int Options, int axis>
640 struct LhsMultiplicationOp<
641 Eigen::MatrixBase<M6Like>,
642 JointMotionSubspaceRevoluteTpl<Scalar, Options, axis>>
643 {
644 typedef JointMotionSubspaceRevoluteTpl<Scalar, Options, axis> Constraint;
645 typedef
646 typename MultiplicationOp<Eigen::MatrixBase<M6Like>, Constraint>::ReturnType ReturnType;
647 static inline ReturnType
648 36 run(const Eigen::MatrixBase<M6Like> & Y, const Constraint & /*constraint*/)
649 {
650 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(M6Like, 6, 6);
651 36 return Y.col(Inertia::ANGULAR + axis);
652 }
653 };
654 } // namespace impl
655
656 template<typename _Scalar, int _Options, int axis>
657 struct traits<JointRevoluteTpl<_Scalar, _Options, axis>>
658 {
659 enum
660 {
661 NQ = 1,
662 NV = 1
663 };
664 typedef _Scalar Scalar;
665 enum
666 {
667 Options = _Options
668 };
669 typedef JointDataRevoluteTpl<Scalar, Options, axis> JointDataDerived;
670 typedef JointModelRevoluteTpl<Scalar, Options, axis> JointModelDerived;
671 typedef JointMotionSubspaceRevoluteTpl<Scalar, Options, axis> Constraint_t;
672 typedef TransformRevoluteTpl<Scalar, Options, axis> Transformation_t;
673 typedef MotionRevoluteTpl<Scalar, Options, axis> Motion_t;
674 typedef MotionZeroTpl<Scalar, Options> Bias_t;
675
676 // [ABA]
677 typedef Eigen::Matrix<Scalar, 6, NV, Options> U_t;
678 typedef Eigen::Matrix<Scalar, NV, NV, Options> D_t;
679 typedef Eigen::Matrix<Scalar, 6, NV, Options> UD_t;
680
681 typedef Eigen::Matrix<Scalar, NQ, 1, Options> ConfigVector_t;
682 typedef Eigen::Matrix<Scalar, NV, 1, Options> TangentVector_t;
683
684 PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE
685 };
686
687 template<typename _Scalar, int _Options, int axis>
688 struct traits<JointDataRevoluteTpl<_Scalar, _Options, axis>>
689 {
690 typedef JointRevoluteTpl<_Scalar, _Options, axis> JointDerived;
691 typedef _Scalar Scalar;
692 };
693
694 template<typename _Scalar, int _Options, int axis>
695 struct traits<JointModelRevoluteTpl<_Scalar, _Options, axis>>
696 {
697 typedef JointRevoluteTpl<_Scalar, _Options, axis> JointDerived;
698 typedef _Scalar Scalar;
699 };
700
701 template<typename _Scalar, int _Options, int axis>
702 struct JointDataRevoluteTpl : public JointDataBase<JointDataRevoluteTpl<_Scalar, _Options, axis>>
703 {
704 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
705 typedef JointRevoluteTpl<_Scalar, _Options, axis> JointDerived;
706 PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived);
707 2196342 PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR
708
709 ConfigVector_t joint_q;
710 TangentVector_t joint_v;
711
712 Constraint_t S;
713 Transformation_t M;
714 Motion_t v;
715 Bias_t c;
716
717 // [ABA] specific data
718 U_t U;
719 D_t Dinv;
720 UD_t UDinv;
721 D_t StU;
722
723 63312 JointDataRevoluteTpl()
724
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 63312 : joint_q(ConfigVector_t::Zero())
725
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 63312 , joint_v(TangentVector_t::Zero())
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727
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 189936 , StU(D_t::Zero())
732 {
733 63312 }
734
735 1730 static std::string classname()
736 {
737
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 3460 return std::string("JointDataR") + axisLabel<axis>();
738 }
739 19 std::string shortname() const
740 {
741 38 return classname();
742 }
743
744 }; // struct JointDataRevoluteTpl
745
746 template<typename NewScalar, typename Scalar, int Options, int axis>
747 struct CastType<NewScalar, JointModelRevoluteTpl<Scalar, Options, axis>>
748 {
749 typedef JointModelRevoluteTpl<NewScalar, Options, axis> type;
750 };
751
752 template<typename _Scalar, int _Options, int axis>
753 struct JointModelRevoluteTpl
754 : public JointModelBase<JointModelRevoluteTpl<_Scalar, _Options, axis>>
755 {
756 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
757 typedef JointRevoluteTpl<_Scalar, _Options, axis> JointDerived;
758 PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived);
759
760 typedef JointModelBase<JointModelRevoluteTpl> Base;
761 using Base::id;
762 using Base::idx_q;
763 using Base::idx_v;
764 using Base::setIndexes;
765
766 typedef Eigen::Matrix<Scalar, 3, 1, _Options> Vector3;
767
768 60778 JointDataDerived createData() const
769 {
770 60778 return JointDataDerived();
771 }
772
773 28282 JointModelRevoluteTpl()
774 28282 {
775 28282 }
776
777 2 const std::vector<bool> hasConfigurationLimit() const
778 {
779
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 2 return {true};
780 }
781
782 2 const std::vector<bool> hasConfigurationLimitInTangent() const
783 {
784
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 2 return {true};
785 }
786
787 template<typename ConfigVector>
788 EIGEN_DONT_INLINE void
789 1288730 calc(JointDataDerived & data, const typename Eigen::MatrixBase<ConfigVector> & qs) const
790 {
791
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 1288730 data.joint_q[0] = qs[idx_q()];
792
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 808 Scalar ca, sa;
793
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 1288730 SINCOS(data.joint_q[0], &sa, &ca);
794
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 1288730 data.M.setValues(sa, ca);
795 1288730 }
796
797 template<typename TangentVector>
798 EIGEN_DONT_INLINE void
799 12 calc(JointDataDerived & data, const Blank, const typename Eigen::MatrixBase<TangentVector> & vs)
800 const
801 {
802 12 data.joint_v[0] = vs[idx_v()];
803 12 data.v.angularRate() = data.joint_v[0];
804 12 }
805
806 template<typename ConfigVector, typename TangentVector>
807 212366 EIGEN_DONT_INLINE void calc(
808 JointDataDerived & data,
809 const typename Eigen::MatrixBase<ConfigVector> & qs,
810 const typename Eigen::MatrixBase<TangentVector> & vs) const
811 {
812 212366 calc(data, qs.derived());
813
814
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 212366 data.joint_v[0] = vs[idx_v()];
815 212366 data.v.angularRate() = data.joint_v[0];
816 212366 }
817
818 template<typename VectorLike, typename Matrix6Like>
819 11352 void calc_aba(
820 JointDataDerived & data,
821 const Eigen::MatrixBase<VectorLike> & armature,
822 const Eigen::MatrixBase<Matrix6Like> & I,
823 const bool update_I) const
824 {
825
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 11352 data.U = I.col(Inertia::ANGULAR + axis);
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 22860 data.Dinv[0] =
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 11508 Scalar(1) / (I(Inertia::ANGULAR + axis, Inertia::ANGULAR + axis) + armature[0]);
828
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 11352 data.UDinv.noalias() = data.U * data.Dinv[0];
829
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 11298 PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like, I).noalias() -= data.UDinv * data.U.transpose();
832 11352 }
833
834 118360 static std::string classname()
835 {
836
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 236720 return std::string("JointModelR") + axisLabel<axis>();
837 }
838 52 std::string shortname() const
839 {
840 58377 return classname();
841 }
842
843 ✗ Vector3 getMotionAxis() const
844 {
845 switch (axis)
846 {
847 case 0:
848 ✗ return Vector3::UnitX();
849 case 1:
850 ✗ return Vector3::UnitY();
851 case 2:
852 ✗ return Vector3::UnitZ();
853 default:
854 assert(false && "must never happen");
855 break;
856 }
857 }
858
859 /// \returns An expression of *this with the Scalar type casted to NewScalar.
860 template<typename NewScalar>
861 645 JointModelRevoluteTpl<NewScalar, Options, axis> cast() const
862 {
863 typedef JointModelRevoluteTpl<NewScalar, Options, axis> ReturnType;
864 645 ReturnType res;
865 645 res.setIndexes(id(), idx_q(), idx_v());
866 645 return res;
867 }
868
869 }; // struct JointModelRevoluteTpl
870
871 typedef JointRevoluteTpl<context::Scalar, context::Options, 0> JointRX;
872 typedef JointDataRevoluteTpl<context::Scalar, context::Options, 0> JointDataRX;
873 typedef JointModelRevoluteTpl<context::Scalar, context::Options, 0> JointModelRX;
874
875 typedef JointRevoluteTpl<context::Scalar, context::Options, 1> JointRY;
876 typedef JointDataRevoluteTpl<context::Scalar, context::Options, 1> JointDataRY;
877 typedef JointModelRevoluteTpl<context::Scalar, context::Options, 1> JointModelRY;
878
879 typedef JointRevoluteTpl<context::Scalar, context::Options, 2> JointRZ;
880 typedef JointDataRevoluteTpl<context::Scalar, context::Options, 2> JointDataRZ;
881 typedef JointModelRevoluteTpl<context::Scalar, context::Options, 2> JointModelRZ;
882
883 } // namespace pinocchio
884
885 #include <boost/type_traits.hpp>
886
887 namespace boost
888 {
889 template<typename Scalar, int Options, int axis>
890 struct has_nothrow_constructor<::pinocchio::JointModelRevoluteTpl<Scalar, Options, axis>>
891 : public integral_constant<bool, true>
892 {
893 };
894
895 template<typename Scalar, int Options, int axis>
896 struct has_nothrow_copy<::pinocchio::JointModelRevoluteTpl<Scalar, Options, axis>>
897 : public integral_constant<bool, true>
898 {
899 };
900
901 template<typename Scalar, int Options, int axis>
902 struct has_nothrow_constructor<::pinocchio::JointDataRevoluteTpl<Scalar, Options, axis>>
903 : public integral_constant<bool, true>
904 {
905 };
906
907 template<typename Scalar, int Options, int axis>
908 struct has_nothrow_copy<::pinocchio::JointDataRevoluteTpl<Scalar, Options, axis>>
909 : public integral_constant<bool, true>
910 {
911 };
912 } // namespace boost
913
914 #endif // ifndef __pinocchio_multibody_joint_revolute_hpp__
915