| Directory: | ./ |
|---|---|
| File: | include/pinocchio/multibody/joint/joint-spherical-ZYX.hpp |
| Date: | 2024-08-27 18:20:05 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 39 | 127 | 30.7% |
| Branches: | 59 | 300 | 19.7% |
| 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_spherical_ZYX_hpp__ | ||
| 7 | #define __pinocchio_multibody_joint_spherical_ZYX_hpp__ | ||
| 8 | |||
| 9 | #include "pinocchio/macros.hpp" | ||
| 10 | #include "pinocchio/multibody/joint/joint-base.hpp" | ||
| 11 | #include "pinocchio/multibody/joint/joint-spherical.hpp" | ||
| 12 | #include "pinocchio/multibody/joint-motion-subspace.hpp" | ||
| 13 | #include "pinocchio/math/sincos.hpp" | ||
| 14 | #include "pinocchio/math/matrix.hpp" | ||
| 15 | #include "pinocchio/spatial/inertia.hpp" | ||
| 16 | #include "pinocchio/spatial/skew.hpp" | ||
| 17 | |||
| 18 | namespace pinocchio | ||
| 19 | { | ||
| 20 | template<typename Scalar, int Options> | ||
| 21 | struct JointMotionSubspaceSphericalZYXTpl; | ||
| 22 | |||
| 23 | template<typename _Scalar, int _Options> | ||
| 24 | struct traits<JointMotionSubspaceSphericalZYXTpl<_Scalar, _Options>> | ||
| 25 | { | ||
| 26 | typedef _Scalar Scalar; | ||
| 27 | enum | ||
| 28 | { | ||
| 29 | Options = _Options | ||
| 30 | }; | ||
| 31 | |||
| 32 | enum | ||
| 33 | { | ||
| 34 | LINEAR = 0, | ||
| 35 | ANGULAR = 3 | ||
| 36 | }; | ||
| 37 | |||
| 38 | typedef MotionSphericalTpl<Scalar, Options> JointMotion; | ||
| 39 | typedef Eigen::Matrix<Scalar, 3, 1, Options> JointForce; | ||
| 40 | typedef Eigen::Matrix<Scalar, 6, 3, Options> DenseBase; | ||
| 41 | typedef Eigen::Matrix<Scalar, 3, 3, Options> ReducedSquaredMatrix; | ||
| 42 | |||
| 43 | typedef DenseBase MatrixReturnType; | ||
| 44 | typedef const DenseBase ConstMatrixReturnType; | ||
| 45 | |||
| 46 | typedef ReducedSquaredMatrix StDiagonalMatrixSOperationReturnType; | ||
| 47 | }; // struct traits struct ConstraintRotationalSubspace | ||
| 48 | |||
| 49 | template<typename _Scalar, int _Options> | ||
| 50 | struct JointMotionSubspaceSphericalZYXTpl | ||
| 51 | : public JointMotionSubspaceBase<JointMotionSubspaceSphericalZYXTpl<_Scalar, _Options>> | ||
| 52 | { | ||
| 53 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 54 | |||
| 55 | PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(JointMotionSubspaceSphericalZYXTpl) | ||
| 56 | |||
| 57 | enum | ||
| 58 | { | ||
| 59 | NV = 3 | ||
| 60 | }; | ||
| 61 | typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3; | ||
| 62 | |||
| 63 | ✗ | JointMotionSubspaceSphericalZYXTpl() | |
| 64 | { | ||
| 65 | } | ||
| 66 | |||
| 67 | template<typename Matrix3Like> | ||
| 68 | 25 | JointMotionSubspaceSphericalZYXTpl(const Eigen::MatrixBase<Matrix3Like> & subspace) | |
| 69 | 25 | : m_S(subspace) | |
| 70 | { | ||
| 71 | EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix3Like, 3, 3); | ||
| 72 | 25 | } | |
| 73 | |||
| 74 | template<typename Vector3Like> | ||
| 75 | ✗ | JointMotion __mult__(const Eigen::MatrixBase<Vector3Like> & v) const | |
| 76 | { | ||
| 77 | EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like, 3); | ||
| 78 | ✗ | return JointMotion(m_S * v); | |
| 79 | } | ||
| 80 | |||
| 81 | Matrix3 & operator()() | ||
| 82 | { | ||
| 83 | return m_S; | ||
| 84 | } | ||
| 85 | const Matrix3 & operator()() const | ||
| 86 | { | ||
| 87 | return m_S; | ||
| 88 | } | ||
| 89 | |||
| 90 | ✗ | int nv_impl() const | |
| 91 | { | ||
| 92 | ✗ | return NV; | |
| 93 | } | ||
| 94 | |||
| 95 | struct ConstraintTranspose | ||
| 96 | : JointMotionSubspaceTransposeBase<JointMotionSubspaceSphericalZYXTpl> | ||
| 97 | { | ||
| 98 | const JointMotionSubspaceSphericalZYXTpl & ref; | ||
| 99 | ✗ | ConstraintTranspose(const JointMotionSubspaceSphericalZYXTpl & ref) | |
| 100 | ✗ | : ref(ref) | |
| 101 | { | ||
| 102 | } | ||
| 103 | |||
| 104 | template<typename Derived> | ||
| 105 | const typename MatrixMatrixProduct< | ||
| 106 | Eigen::Transpose<const Matrix3>, | ||
| 107 | Eigen::Block<const typename ForceDense<Derived>::Vector6, 3, 1>>::type | ||
| 108 | ✗ | operator*(const ForceDense<Derived> & phi) const | |
| 109 | { | ||
| 110 | ✗ | return ref.m_S.transpose() * phi.angular(); | |
| 111 | } | ||
| 112 | |||
| 113 | /* [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */ | ||
| 114 | template<typename D> | ||
| 115 | const typename MatrixMatrixProduct< | ||
| 116 | typename Eigen::Transpose<const Matrix3>, | ||
| 117 | typename Eigen::MatrixBase<const D>::template NRowsBlockXpr<3>::Type>::type | ||
| 118 | ✗ | operator*(const Eigen::MatrixBase<D> & F) const | |
| 119 | { | ||
| 120 | EIGEN_STATIC_ASSERT( | ||
| 121 | D::RowsAtCompileTime == 6, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE) | ||
| 122 | ✗ | return ref.m_S.transpose() * F.template middleRows<3>(ANGULAR); | |
| 123 | } | ||
| 124 | }; // struct ConstraintTranspose | ||
| 125 | |||
| 126 | ✗ | ConstraintTranspose transpose() const | |
| 127 | { | ||
| 128 | ✗ | return ConstraintTranspose(*this); | |
| 129 | } | ||
| 130 | |||
| 131 | ✗ | DenseBase matrix_impl() const | |
| 132 | { | ||
| 133 | ✗ | DenseBase S; | |
| 134 | ✗ | S.template middleRows<3>(LINEAR).setZero(); | |
| 135 | ✗ | S.template middleRows<3>(ANGULAR) = m_S; | |
| 136 | ✗ | return S; | |
| 137 | } | ||
| 138 | |||
| 139 | // const typename Eigen::ProductReturnType< | ||
| 140 | // const ConstraintDense, | ||
| 141 | // const Matrix3 | ||
| 142 | // >::Type | ||
| 143 | template<typename S1, int O1> | ||
| 144 | ✗ | Eigen::Matrix<Scalar, 6, 3, Options> se3Action(const SE3Tpl<S1, O1> & m) const | |
| 145 | { | ||
| 146 | // Eigen::Matrix <Scalar,6,3,Options> X_subspace; | ||
| 147 | // X_subspace.template block <3,3> (Motion::LINEAR, 0) = skew (m.translation ()) * | ||
| 148 | // m.rotation (); X_subspace.template block <3,3> (Motion::ANGULAR, 0) = m.rotation (); | ||
| 149 | // | ||
| 150 | // return (X_subspace * m_S).eval(); | ||
| 151 | |||
| 152 | ✗ | Eigen::Matrix<Scalar, 6, 3, Options> result; | |
| 153 | |||
| 154 | // ANGULAR | ||
| 155 | ✗ | result.template middleRows<3>(ANGULAR).noalias() = m.rotation() * m_S; | |
| 156 | |||
| 157 | // LINEAR | ||
| 158 | ✗ | cross( | |
| 159 | ✗ | m.translation(), result.template middleRows<3>(Motion::ANGULAR), | |
| 160 | ✗ | result.template middleRows<3>(LINEAR)); | |
| 161 | |||
| 162 | ✗ | return result; | |
| 163 | } | ||
| 164 | |||
| 165 | template<typename S1, int O1> | ||
| 166 | ✗ | Eigen::Matrix<Scalar, 6, 3, Options> se3ActionInverse(const SE3Tpl<S1, O1> & m) const | |
| 167 | { | ||
| 168 | ✗ | Eigen::Matrix<Scalar, 6, 3, Options> result; | |
| 169 | |||
| 170 | // LINEAR | ||
| 171 | ✗ | cross(m.translation(), m_S, result.template middleRows<3>(ANGULAR)); | |
| 172 | ✗ | result.template middleRows<3>(LINEAR).noalias() = | |
| 173 | ✗ | -m.rotation().transpose() * result.template middleRows<3>(ANGULAR); | |
| 174 | |||
| 175 | // ANGULAR | ||
| 176 | ✗ | result.template middleRows<3>(ANGULAR).noalias() = m.rotation().transpose() * m_S; | |
| 177 | |||
| 178 | ✗ | return result; | |
| 179 | } | ||
| 180 | |||
| 181 | template<typename MotionDerived> | ||
| 182 | ✗ | DenseBase motionAction(const MotionDense<MotionDerived> & m) const | |
| 183 | { | ||
| 184 | ✗ | const typename MotionDerived::ConstLinearType v = m.linear(); | |
| 185 | ✗ | const typename MotionDerived::ConstAngularType w = m.angular(); | |
| 186 | |||
| 187 | ✗ | DenseBase res; | |
| 188 | ✗ | cross(v, m_S, res.template middleRows<3>(LINEAR)); | |
| 189 | ✗ | cross(w, m_S, res.template middleRows<3>(ANGULAR)); | |
| 190 | |||
| 191 | ✗ | return res; | |
| 192 | } | ||
| 193 | |||
| 194 | ✗ | Matrix3 & angularSubspace() | |
| 195 | { | ||
| 196 | ✗ | return m_S; | |
| 197 | } | ||
| 198 | ✗ | const Matrix3 & angularSubspace() const | |
| 199 | { | ||
| 200 | ✗ | return m_S; | |
| 201 | } | ||
| 202 | |||
| 203 | ✗ | bool isEqual(const JointMotionSubspaceSphericalZYXTpl & other) const | |
| 204 | { | ||
| 205 | ✗ | return internal::comparison_eq(m_S, other.m_S); | |
| 206 | } | ||
| 207 | |||
| 208 | protected: | ||
| 209 | Matrix3 m_S; | ||
| 210 | |||
| 211 | }; // struct JointMotionSubspaceSphericalZYXTpl | ||
| 212 | |||
| 213 | namespace details | ||
| 214 | { | ||
| 215 | template<typename Scalar, int Options> | ||
| 216 | struct StDiagonalMatrixSOperation<JointMotionSubspaceSphericalZYXTpl<Scalar, Options>> | ||
| 217 | { | ||
| 218 | typedef JointMotionSubspaceSphericalZYXTpl<Scalar, Options> Constraint; | ||
| 219 | typedef typename traits<Constraint>::StDiagonalMatrixSOperationReturnType ReturnType; | ||
| 220 | |||
| 221 | ✗ | static ReturnType run(const JointMotionSubspaceBase<Constraint> & constraint) | |
| 222 | { | ||
| 223 | ✗ | return constraint.matrix().transpose() * constraint.matrix(); | |
| 224 | } | ||
| 225 | }; | ||
| 226 | } // namespace details | ||
| 227 | |||
| 228 | /* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */ | ||
| 229 | template<typename S1, int O1, typename S2, int O2> | ||
| 230 | Eigen::Matrix<S1, 6, 3, O1> | ||
| 231 | ✗ | operator*(const InertiaTpl<S1, O1> & Y, const JointMotionSubspaceSphericalZYXTpl<S2, O2> & S) | |
| 232 | { | ||
| 233 | typedef typename InertiaTpl<S1, O1>::Symmetric3 Symmetric3; | ||
| 234 | typedef JointMotionSubspaceSphericalZYXTpl<S2, O2> Constraint; | ||
| 235 | ✗ | Eigen::Matrix<S1, 6, 3, O1> M; | |
| 236 | ✗ | alphaSkew(-Y.mass(), Y.lever(), M.template middleRows<3>(Constraint::LINEAR)); | |
| 237 | ✗ | M.template middleRows<3>(Constraint::ANGULAR) = | |
| 238 | ✗ | (Y.inertia() - typename Symmetric3::AlphaSkewSquare(Y.mass(), Y.lever())).matrix(); | |
| 239 | |||
| 240 | ✗ | return (M * S.angularSubspace()).eval(); | |
| 241 | } | ||
| 242 | |||
| 243 | /* [ABA] Y*S operator (Inertia Y,Constraint S) */ | ||
| 244 | // inline Eigen::Matrix<context::Scalar,6,3> | ||
| 245 | template<typename Matrix6Like, typename S2, int O2> | ||
| 246 | const typename MatrixMatrixProduct< | ||
| 247 | typename Eigen::internal::remove_const< | ||
| 248 | typename SizeDepType<3>::ColsReturn<Matrix6Like>::ConstType>::type, | ||
| 249 | typename JointMotionSubspaceSphericalZYXTpl<S2, O2>::Matrix3>::type | ||
| 250 | ✗ | operator*( | |
| 251 | const Eigen::MatrixBase<Matrix6Like> & Y, const JointMotionSubspaceSphericalZYXTpl<S2, O2> & S) | ||
| 252 | { | ||
| 253 | EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix6Like, 6, 6); | ||
| 254 | ✗ | return Y.derived().template middleCols<3>(Inertia::ANGULAR) * S.angularSubspace(); | |
| 255 | } | ||
| 256 | |||
| 257 | template<typename S1, int O1> | ||
| 258 | struct SE3GroupAction<JointMotionSubspaceSphericalZYXTpl<S1, O1>> | ||
| 259 | { | ||
| 260 | // typedef const typename Eigen::ProductReturnType< | ||
| 261 | // Eigen::Matrix <context::Scalar,6,3,0>, | ||
| 262 | // Eigen::Matrix <context::Scalar,3,3,0> | ||
| 263 | // >::Type Type; | ||
| 264 | typedef Eigen::Matrix<S1, 6, 3, O1> ReturnType; | ||
| 265 | }; | ||
| 266 | |||
| 267 | template<typename S1, int O1, typename MotionDerived> | ||
| 268 | struct MotionAlgebraAction<JointMotionSubspaceSphericalZYXTpl<S1, O1>, MotionDerived> | ||
| 269 | { | ||
| 270 | typedef Eigen::Matrix<S1, 6, 3, O1> ReturnType; | ||
| 271 | }; | ||
| 272 | |||
| 273 | template<typename Scalar, int Options> | ||
| 274 | struct JointSphericalZYXTpl; | ||
| 275 | |||
| 276 | template<typename _Scalar, int _Options> | ||
| 277 | struct traits<JointSphericalZYXTpl<_Scalar, _Options>> | ||
| 278 | { | ||
| 279 | enum | ||
| 280 | { | ||
| 281 | NQ = 3, | ||
| 282 | NV = 3 | ||
| 283 | }; | ||
| 284 | typedef _Scalar Scalar; | ||
| 285 | enum | ||
| 286 | { | ||
| 287 | Options = _Options | ||
| 288 | }; | ||
| 289 | typedef JointDataSphericalZYXTpl<Scalar, Options> JointDataDerived; | ||
| 290 | typedef JointModelSphericalZYXTpl<Scalar, Options> JointModelDerived; | ||
| 291 | typedef JointMotionSubspaceSphericalZYXTpl<Scalar, Options> Constraint_t; | ||
| 292 | typedef SE3Tpl<Scalar, Options> Transformation_t; | ||
| 293 | typedef MotionSphericalTpl<Scalar, Options> Motion_t; | ||
| 294 | typedef MotionSphericalTpl<Scalar, Options> Bias_t; | ||
| 295 | |||
| 296 | // [ABA] | ||
| 297 | typedef Eigen::Matrix<Scalar, 6, NV, Options> U_t; | ||
| 298 | typedef Eigen::Matrix<Scalar, NV, NV, Options> D_t; | ||
| 299 | typedef Eigen::Matrix<Scalar, 6, NV, Options> UD_t; | ||
| 300 | |||
| 301 | typedef Eigen::Matrix<Scalar, NQ, 1, Options> ConfigVector_t; | ||
| 302 | typedef Eigen::Matrix<Scalar, NV, 1, Options> TangentVector_t; | ||
| 303 | |||
| 304 | PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE | ||
| 305 | }; | ||
| 306 | |||
| 307 | template<typename _Scalar, int _Options> | ||
| 308 | struct traits<JointDataSphericalZYXTpl<_Scalar, _Options>> | ||
| 309 | { | ||
| 310 | typedef JointSphericalZYXTpl<_Scalar, _Options> JointDerived; | ||
| 311 | typedef _Scalar Scalar; | ||
| 312 | }; | ||
| 313 | |||
| 314 | template<typename _Scalar, int _Options> | ||
| 315 | struct traits<JointModelSphericalZYXTpl<_Scalar, _Options>> | ||
| 316 | { | ||
| 317 | typedef JointSphericalZYXTpl<_Scalar, _Options> JointDerived; | ||
| 318 | typedef _Scalar Scalar; | ||
| 319 | }; | ||
| 320 | |||
| 321 | template<typename _Scalar, int _Options> | ||
| 322 | struct JointDataSphericalZYXTpl | ||
| 323 | : public JointDataBase<JointDataSphericalZYXTpl<_Scalar, _Options>> | ||
| 324 | { | ||
| 325 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 326 | typedef JointSphericalZYXTpl<_Scalar, _Options> JointDerived; | ||
| 327 | PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived); | ||
| 328 | 1 | PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR | |
| 329 | |||
| 330 | ConfigVector_t joint_q; | ||
| 331 | TangentVector_t joint_v; | ||
| 332 | |||
| 333 | Constraint_t S; | ||
| 334 | Transformation_t M; | ||
| 335 | Motion_t v; | ||
| 336 | Bias_t c; | ||
| 337 | |||
| 338 | // [ABA] specific data | ||
| 339 | U_t U; | ||
| 340 | D_t Dinv; | ||
| 341 | UD_t UDinv; | ||
| 342 | D_t StU; | ||
| 343 | |||
| 344 | 25 | JointDataSphericalZYXTpl() | |
| 345 |
1/2✓ Branch 2 taken 25 times.
✗ Branch 3 not taken.
|
25 | : joint_q(ConfigVector_t::Zero()) |
| 346 |
1/2✓ Branch 2 taken 25 times.
✗ Branch 3 not taken.
|
25 | , joint_v(TangentVector_t::Zero()) |
| 347 |
1/2✓ Branch 2 taken 25 times.
✗ Branch 3 not taken.
|
25 | , S(Constraint_t::Matrix3::Zero()) |
| 348 | 25 | , M(Transformation_t::Identity()) | |
| 349 |
1/2✓ Branch 2 taken 25 times.
✗ Branch 3 not taken.
|
25 | , v(Motion_t::Vector3::Zero()) |
| 350 |
1/2✓ Branch 2 taken 25 times.
✗ Branch 3 not taken.
|
25 | , c(Bias_t::Vector3::Zero()) |
| 351 |
1/2✓ Branch 2 taken 25 times.
✗ Branch 3 not taken.
|
25 | , U(U_t::Zero()) |
| 352 |
1/2✓ Branch 2 taken 25 times.
✗ Branch 3 not taken.
|
25 | , Dinv(D_t::Zero()) |
| 353 |
1/2✓ Branch 2 taken 25 times.
✗ Branch 3 not taken.
|
25 | , UDinv(UD_t::Zero()) |
| 354 |
1/2✓ Branch 3 taken 25 times.
✗ Branch 4 not taken.
|
50 | , StU(D_t::Zero()) |
| 355 | { | ||
| 356 | 25 | } | |
| 357 | |||
| 358 | 40 | static std::string classname() | |
| 359 | { | ||
| 360 |
1/2✓ Branch 2 taken 40 times.
✗ Branch 3 not taken.
|
40 | return std::string("JointDataSphericalZYX"); |
| 361 | } | ||
| 362 | ✗ | std::string shortname() const | |
| 363 | { | ||
| 364 | ✗ | return classname(); | |
| 365 | } | ||
| 366 | |||
| 367 | }; // strcut JointDataSphericalZYXTpl | ||
| 368 | |||
| 369 | PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelSphericalZYXTpl); | ||
| 370 | template<typename _Scalar, int _Options> | ||
| 371 | struct JointModelSphericalZYXTpl | ||
| 372 | : public JointModelBase<JointModelSphericalZYXTpl<_Scalar, _Options>> | ||
| 373 | { | ||
| 374 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 375 | typedef JointSphericalZYXTpl<_Scalar, _Options> JointDerived; | ||
| 376 | PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived); | ||
| 377 | |||
| 378 | typedef JointModelBase<JointModelSphericalZYXTpl> Base; | ||
| 379 | using Base::id; | ||
| 380 | using Base::idx_q; | ||
| 381 | using Base::idx_v; | ||
| 382 | using Base::setIndexes; | ||
| 383 | |||
| 384 | 5 | JointDataDerived createData() const | |
| 385 | { | ||
| 386 | 5 | return JointDataDerived(); | |
| 387 | } | ||
| 388 | |||
| 389 | ✗ | const std::vector<bool> hasConfigurationLimit() const | |
| 390 | { | ||
| 391 | ✗ | return {true, true, true}; | |
| 392 | } | ||
| 393 | |||
| 394 | ✗ | const std::vector<bool> hasConfigurationLimitInTangent() const | |
| 395 | { | ||
| 396 | ✗ | return {true, true, true}; | |
| 397 | } | ||
| 398 | |||
| 399 | template<typename ConfigVector> | ||
| 400 | ✗ | void calc(JointDataDerived & data, const typename Eigen::MatrixBase<ConfigVector> & qs) const | |
| 401 | { | ||
| 402 | ✗ | data.joint_q = qs.template segment<NQ>(idx_q()); | |
| 403 | |||
| 404 | Scalar c0, s0; | ||
| 405 | ✗ | SINCOS(data.joint_q(0), &s0, &c0); | |
| 406 | Scalar c1, s1; | ||
| 407 | ✗ | SINCOS(data.joint_q(1), &s1, &c1); | |
| 408 | Scalar c2, s2; | ||
| 409 | ✗ | SINCOS(data.joint_q(2), &s2, &c2); | |
| 410 | |||
| 411 | ✗ | data.M.rotation() << c0 * c1, c0 * s1 * s2 - s0 * c2, c0 * s1 * c2 + s0 * s2, s0 * c1, | |
| 412 | ✗ | s0 * s1 * s2 + c0 * c2, s0 * s1 * c2 - c0 * s2, -s1, c1 * s2, c1 * c2; | |
| 413 | |||
| 414 | ✗ | data.S.angularSubspace() << -s1, Scalar(0), Scalar(1), c1 * s2, c2, Scalar(0), c1 * c2, -s2, | |
| 415 | ✗ | Scalar(0); | |
| 416 | } | ||
| 417 | |||
| 418 | template<typename TangentVector> | ||
| 419 | void | ||
| 420 | ✗ | calc(JointDataDerived & data, const Blank, const typename Eigen::MatrixBase<TangentVector> & vs) | |
| 421 | const | ||
| 422 | { | ||
| 423 | ✗ | data.joint_v = vs.template segment<NV>(idx_v()); | |
| 424 | ✗ | data.v().noalias() = data.S.angularSubspace() * data.joint_v; | |
| 425 | |||
| 426 | // TODO(jcarpent): to be done | ||
| 427 | // #define q_dot data.joint_v | ||
| 428 | // data.c()(0) = -c1 * q_dot(0) * q_dot(1); | ||
| 429 | // data.c()(1) = -s1 * s2 * q_dot(0) * q_dot(1) + c1 * c2 * q_dot(0) * q_dot(2) - s2 * | ||
| 430 | // q_dot(1) * q_dot(2); data.c()(2) = -s1 * c2 * q_dot(0) * q_dot(1) - c1 * s2 * | ||
| 431 | // q_dot(0) * q_dot(2) - c2 * q_dot(1) * q_dot(2); | ||
| 432 | // #undef q_dot | ||
| 433 | } | ||
| 434 | |||
| 435 | template<typename ConfigVector, typename TangentVector> | ||
| 436 | 5 | void calc( | |
| 437 | JointDataDerived & data, | ||
| 438 | const typename Eigen::MatrixBase<ConfigVector> & qs, | ||
| 439 | const typename Eigen::MatrixBase<TangentVector> & vs) const | ||
| 440 | { | ||
| 441 |
3/6✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
|
5 | data.joint_q = qs.template segment<NQ>(idx_q()); |
| 442 | |||
| 443 | Scalar c0, s0; | ||
| 444 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | SINCOS(data.joint_q(0), &s0, &c0); |
| 445 | Scalar c1, s1; | ||
| 446 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | SINCOS(data.joint_q(1), &s1, &c1); |
| 447 | Scalar c2, s2; | ||
| 448 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | SINCOS(data.joint_q(2), &s2, &c2); |
| 449 | |||
| 450 |
5/10✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 5 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 5 times.
✗ Branch 14 not taken.
|
5 | data.M.rotation() << c0 * c1, c0 * s1 * s2 - s0 * c2, c0 * s1 * c2 + s0 * s2, s0 * c1, |
| 451 |
5/10✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 5 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 5 times.
✗ Branch 14 not taken.
|
5 | s0 * s1 * s2 + c0 * c2, s0 * s1 * c2 - c0 * s2, -s1, c1 * s2, c1 * c2; |
| 452 | |||
| 453 |
8/16✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 5 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 5 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 5 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 5 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 5 times.
✗ Branch 21 not taken.
✓ Branch 23 taken 5 times.
✗ Branch 24 not taken.
|
5 | data.S.angularSubspace() << -s1, Scalar(0), Scalar(1), c1 * s2, c2, Scalar(0), c1 * c2, -s2, |
| 454 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | Scalar(0); |
| 455 | |||
| 456 |
3/6✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
|
5 | data.joint_v = vs.template segment<NV>(idx_v()); |
| 457 |
3/6✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 5 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 5 times.
✗ Branch 10 not taken.
|
5 | data.v().noalias() = data.S.angularSubspace() * data.joint_v; |
| 458 | |||
| 459 | #define q_dot data.joint_v | ||
| 460 |
3/6✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 8 taken 5 times.
✗ Branch 9 not taken.
|
5 | data.c()(0) = -c1 * q_dot(0) * q_dot(1); |
| 461 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | data.c()(1) = |
| 462 |
6/12✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 5 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 5 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 5 times.
✗ Branch 17 not taken.
|
5 | -s1 * s2 * q_dot(0) * q_dot(1) + c1 * c2 * q_dot(0) * q_dot(2) - s2 * q_dot(1) * q_dot(2); |
| 463 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | data.c()(2) = |
| 464 |
6/12✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 5 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 5 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 5 times.
✗ Branch 17 not taken.
|
5 | -s1 * c2 * q_dot(0) * q_dot(1) - c1 * s2 * q_dot(0) * q_dot(2) - c2 * q_dot(1) * q_dot(2); |
| 465 | #undef q_dot | ||
| 466 | 5 | } | |
| 467 | |||
| 468 | template<typename VectorLike, typename Matrix6Like> | ||
| 469 | ✗ | void calc_aba( | |
| 470 | JointDataDerived & data, | ||
| 471 | const Eigen::MatrixBase<VectorLike> & armature, | ||
| 472 | const Eigen::MatrixBase<Matrix6Like> & I, | ||
| 473 | const bool update_I) const | ||
| 474 | { | ||
| 475 | ✗ | data.U.noalias() = I.template middleCols<3>(Motion::ANGULAR) * data.S.angularSubspace(); | |
| 476 | ✗ | data.StU.noalias() = | |
| 477 | ✗ | data.S.angularSubspace().transpose() * data.U.template middleRows<3>(Motion::ANGULAR); | |
| 478 | ✗ | data.StU.diagonal() += armature; | |
| 479 | |||
| 480 | ✗ | internal::PerformStYSInversion<Scalar>::run(data.StU, data.Dinv); | |
| 481 | |||
| 482 | ✗ | data.UDinv.noalias() = data.U * data.Dinv; | |
| 483 | |||
| 484 | ✗ | if (update_I) | |
| 485 | ✗ | PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like, I).noalias() -= data.UDinv * data.U.transpose(); | |
| 486 | } | ||
| 487 | |||
| 488 | 40 | static std::string classname() | |
| 489 | { | ||
| 490 |
1/2✓ Branch 2 taken 40 times.
✗ Branch 3 not taken.
|
40 | return std::string("JointModelSphericalZYX"); |
| 491 | } | ||
| 492 | ✗ | std::string shortname() const | |
| 493 | { | ||
| 494 | ✗ | return classname(); | |
| 495 | } | ||
| 496 | |||
| 497 | /// \returns An expression of *this with the Scalar type casted to NewScalar. | ||
| 498 | template<typename NewScalar> | ||
| 499 | ✗ | JointModelSphericalZYXTpl<NewScalar, Options> cast() const | |
| 500 | { | ||
| 501 | typedef JointModelSphericalZYXTpl<NewScalar, Options> ReturnType; | ||
| 502 | ✗ | ReturnType res; | |
| 503 | ✗ | res.setIndexes(id(), idx_q(), idx_v()); | |
| 504 | ✗ | return res; | |
| 505 | } | ||
| 506 | |||
| 507 | }; // struct JointModelSphericalZYXTpl | ||
| 508 | |||
| 509 | } // namespace pinocchio | ||
| 510 | |||
| 511 | #include <boost/type_traits.hpp> | ||
| 512 | |||
| 513 | namespace boost | ||
| 514 | { | ||
| 515 | template<typename Scalar, int Options> | ||
| 516 | struct has_nothrow_constructor<::pinocchio::JointModelSphericalZYXTpl<Scalar, Options>> | ||
| 517 | : public integral_constant<bool, true> | ||
| 518 | { | ||
| 519 | }; | ||
| 520 | |||
| 521 | template<typename Scalar, int Options> | ||
| 522 | struct has_nothrow_copy<::pinocchio::JointModelSphericalZYXTpl<Scalar, Options>> | ||
| 523 | : public integral_constant<bool, true> | ||
| 524 | { | ||
| 525 | }; | ||
| 526 | |||
| 527 | template<typename Scalar, int Options> | ||
| 528 | struct has_nothrow_constructor<::pinocchio::JointDataSphericalZYXTpl<Scalar, Options>> | ||
| 529 | : public integral_constant<bool, true> | ||
| 530 | { | ||
| 531 | }; | ||
| 532 | |||
| 533 | template<typename Scalar, int Options> | ||
| 534 | struct has_nothrow_copy<::pinocchio::JointDataSphericalZYXTpl<Scalar, Options>> | ||
| 535 | : public integral_constant<bool, true> | ||
| 536 | { | ||
| 537 | }; | ||
| 538 | } // namespace boost | ||
| 539 | |||
| 540 | #endif // ifndef __pinocchio_multibody_joint_spherical_ZYX_hpp__ | ||
| 541 |