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// Copyright (c) 2018 CNRS |
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// |
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#ifndef __pinocchio_lie_group_variant_visitor_hxx__ |
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#define __pinocchio_lie_group_variant_visitor_hxx__ |
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#include "pinocchio/multibody/liegroup/liegroup-base.hpp" |
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#include "pinocchio/multibody/liegroup/cartesian-product-variant.hpp" |
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#include "pinocchio/multibody/visitor.hpp" |
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#include <string> |
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#define LIE_GROUP_VISITOR(VISITOR) \ |
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VISITOR(ArgsType & args) \ |
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: args(args) \ |
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{ \ |
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} \ |
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ArgsType & args |
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namespace pinocchio |
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{ |
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namespace visitor |
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{ |
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namespace bf = boost::fusion; |
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template<typename Visitor> |
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struct LieGroupVisitorBase : public boost::static_visitor<> |
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{ |
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template<typename LieGroupDerived> |
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void operator()(const LieGroupBase<LieGroupDerived> & lg) const |
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{ |
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bf::invoke( |
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&Visitor::template algo<LieGroupDerived>, |
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bf::append(boost::ref(lg), static_cast<const Visitor *>(this)->args)); |
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} |
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template<typename LieGroupCollection, typename ArgsTmp> |
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static void run(const LieGroupGenericTpl<LieGroupCollection> & lg, ArgsTmp args) |
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{ |
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return boost::apply_visitor(Visitor(args), lg); |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct LieGroupEqual : public boost::static_visitor<bool> |
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{ |
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template<typename T, typename U> |
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bool operator()(const T &, const U &) const |
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{ |
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// Should we handle |
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// - dynamic size vector space versus static size vector space |
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// - dynamic versus static cartesian product |
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return false; |
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} |
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template<typename T> |
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bool operator()(const T & lhs, const T & rhs) const |
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{ |
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return lhs == rhs; |
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} |
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/// \name Vector space comparison |
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/// \{ |
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bool operator()( |
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const VectorSpaceOperationTpl<Eigen::Dynamic, Scalar, Options> & lhs, |
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const VectorSpaceOperationTpl<Eigen::Dynamic, Scalar, Options> & rhs) const |
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{ |
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return lhs == rhs; |
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} |
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template<int Dim> |
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bool operator()( |
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const VectorSpaceOperationTpl<Dim, Scalar, Options> & lhs, |
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const VectorSpaceOperationTpl<Eigen::Dynamic, Scalar, Options> & rhs) const |
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{ |
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return lhs.nq() == rhs.nq(); |
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} |
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template<int Dim> |
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bool operator()( |
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const VectorSpaceOperationTpl<Eigen::Dynamic, Scalar, Options> & lhs, |
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const VectorSpaceOperationTpl<Dim, Scalar, Options> & rhs) const |
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{ |
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return lhs.nq() == rhs.nq(); |
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} |
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/// \} |
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template< |
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typename LieGroup1, |
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typename LieGroup2, |
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template<typename, int> |
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class LieGroupCollectionTpl> |
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bool operator()( |
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const CartesianProductOperation<LieGroup1, LieGroup2> & lhs, |
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const CartesianProductOperationVariantTpl<Scalar, Options, LieGroupCollectionTpl> & rhs) |
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const |
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{ |
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return rhs.isEqual(lhs); |
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} |
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template< |
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typename LieGroup1, |
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typename LieGroup2, |
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template<typename, int> |
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class LieGroupCollectionTpl> |
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bool operator()( |
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const CartesianProductOperationVariantTpl<Scalar, Options, LieGroupCollectionTpl> & lhs, |
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const CartesianProductOperation<LieGroup1, LieGroup2> & rhs) const |
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{ |
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return lhs.isEqual(rhs); |
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} |
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}; |
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} // namespace visitor |
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#define PINOCCHIO_LG_CHECK_VECTOR_SIZE(type, var, exp_size) \ |
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EIGEN_STATIC_ASSERT_VECTOR_ONLY(type); \ |
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assert(var.size() == exp_size) |
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#define PINOCCHIO_LG_CHECK_MATRIX_SIZE(var, nr, nc) \ |
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assert(var.rows() == nr); \ |
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assert(var.cols() == nc) |
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#define PINOCCHIO_LG_VISITOR(Name, type, _method) \ |
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/** @brief Lie Group visitor of the _method */ \ |
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struct LieGroup##Name##Visitor : public boost::static_visitor<type> \ |
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{ \ |
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template<typename LieGroupDerived> \ |
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type operator()(const LieGroupBase<LieGroupDerived> & lg) const \ |
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{ \ |
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return lg._method(); \ |
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} \ |
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\ |
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template<typename LieGroupCollection> \ |
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static type run(const LieGroupGenericTpl<LieGroupCollection> & lg) \ |
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{ \ |
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return boost::apply_visitor(LieGroup##Name##Visitor(), lg); \ |
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} \ |
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}; \ |
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\ |
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template<typename LieGroupCollection> \ |
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inline type _method(const LieGroupGenericTpl<LieGroupCollection> & lg) \ |
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{ \ |
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return LieGroup##Name##Visitor::run(lg); \ |
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} |
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PINOCCHIO_LG_VISITOR(Nq, int, nq) |
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PINOCCHIO_LG_VISITOR(Nv, int, nv) |
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PINOCCHIO_LG_VISITOR(Name, std::string, name) |
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#undef PINOCCHIO_LG_VISITOR |
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/** |
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* @brief Visitor of the Lie Group neutral element |
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*/ |
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template<typename Vector> |
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struct LieGroupNeutralVisitor : public boost::static_visitor<Vector> |
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{ |
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template<typename LieGroupDerived> |
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Vector operator()(const LieGroupBase<LieGroupDerived> & lg) const |
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{ |
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return lg.neutral(); |
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} |
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template<typename LieGroupCollection> |
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static Vector run(const LieGroupGenericTpl<LieGroupCollection> & lg) |
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{ |
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return boost::apply_visitor(LieGroupNeutralVisitor(), lg); |
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} |
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}; |
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template<typename LieGroupCollection> |
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inline Eigen:: |
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Matrix<typename LieGroupCollection::Scalar, Eigen::Dynamic, 1, LieGroupCollection::Options> |
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neutral(const LieGroupGenericTpl<LieGroupCollection> & lg) |
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{ |
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typedef Eigen::Matrix< |
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typename LieGroupCollection::Scalar, Eigen::Dynamic, 1, LieGroupCollection::Options> |
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ReturnType; |
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return LieGroupNeutralVisitor<ReturnType>::run(lg); |
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} |
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#define PINOCCHIO_LG_VISITOR(Name, _method) \ |
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/** @brief Visitor of the Lie Group _method method */ \ |
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template<class M_t> \ |
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struct LieGroup##Name##Visitor : visitor::LieGroupVisitorBase<LieGroup##Name##Visitor<M_t>> \ |
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{ \ |
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typedef boost::fusion::vector<const Eigen::MatrixBase<M_t> &> ArgsType; \ |
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LIE_GROUP_VISITOR(LieGroup##Name##Visitor); \ |
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template<typename LieGroupDerived> \ |
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static void algo(const LieGroupBase<LieGroupDerived> & lg, const Eigen::MatrixBase<M_t> & m1) \ |
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{ \ |
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lg._method(m1); \ |
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} \ |
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} |
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PINOCCHIO_LG_VISITOR(Random, random); |
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PINOCCHIO_LG_VISITOR(Normalize, normalize); |
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template<typename LieGroupCollection, class Config_t> |
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inline void random( |
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const LieGroupGenericTpl<LieGroupCollection> & lg, const Eigen::MatrixBase<Config_t> & qout) |
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{ |
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PINOCCHIO_LG_CHECK_VECTOR_SIZE(Config_t, qout, nq(lg)); |
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typedef LieGroupRandomVisitor<Config_t> Operation; |
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Operation::run(lg, typename Operation::ArgsType(qout)); |
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} |
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template<typename LieGroupCollection, class Config_t> |
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inline void normalize( |
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const LieGroupGenericTpl<LieGroupCollection> & lg, const Eigen::MatrixBase<Config_t> & qout) |
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{ |
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PINOCCHIO_LG_CHECK_VECTOR_SIZE(Config_t, qout, nq(lg)); |
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typedef LieGroupNormalizeVisitor<Config_t> Operation; |
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Operation::run(lg, typename Operation::ArgsType(qout)); |
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} |
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#undef PINOCCHIO_LG_VISITOR |
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/** @brief Visitor of the Lie Group isNormalized method */ |
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template<class Matrix_t> |
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struct LieGroupIsNormalizedVisitor |
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: visitor::LieGroupVisitorBase<LieGroupIsNormalizedVisitor<Matrix_t>> |
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{ |
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typedef boost::fusion:: |
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vector<const Eigen::MatrixBase<Matrix_t> &, const typename Matrix_t::Scalar &, bool &> |
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ArgsType; |
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LIE_GROUP_VISITOR(LieGroupIsNormalizedVisitor); |
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template<typename LieGroupDerived> |
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static void algo( |
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const LieGroupBase<LieGroupDerived> & lg, |
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const Eigen::MatrixBase<Matrix_t> & qin, |
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const typename Matrix_t::Scalar & prec, |
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bool & res) |
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{ |
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res = lg.isNormalized(qin, prec); |
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} |
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}; |
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template<typename LieGroupCollection, class Config_t> |
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inline bool isNormalized( |
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const LieGroupGenericTpl<LieGroupCollection> & lg, |
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const Eigen::MatrixBase<Config_t> & qin, |
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const typename Config_t::Scalar & prec) |
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{ |
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PINOCCHIO_LG_CHECK_VECTOR_SIZE(Config_t, qin, nq(lg)); |
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bool res; |
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typedef LieGroupIsNormalizedVisitor<Config_t> Operation; |
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Operation::run(lg, typename Operation::ArgsType(qin, prec, res)); |
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return res; |
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} |
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/** @brief Visitor of the Lie Group isSameConfiguration method */ |
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template<class Matrix1_t, class Matrix2_t> |
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struct LieGroupIsSameConfigurationVisitor |
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: visitor::LieGroupVisitorBase<LieGroupIsSameConfigurationVisitor<Matrix1_t, Matrix2_t>> |
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{ |
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typedef boost::fusion::vector< |
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const Eigen::MatrixBase<Matrix1_t> &, |
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const Eigen::MatrixBase<Matrix2_t> &, |
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const typename Matrix1_t::Scalar &, |
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bool &> |
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ArgsType; |
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LIE_GROUP_VISITOR(LieGroupIsSameConfigurationVisitor); |
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template<typename LieGroupDerived> |
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static void algo( |
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const LieGroupBase<LieGroupDerived> & lg, |
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const Eigen::MatrixBase<Matrix1_t> & q0, |
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const Eigen::MatrixBase<Matrix2_t> & q1, |
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const typename Matrix1_t::Scalar & prec, |
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bool & res) |
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{ |
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res = lg.isSameConfiguration(q0, q1, prec); |
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} |
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}; |
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template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t> |
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inline bool isSameConfiguration( |
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const LieGroupGenericTpl<LieGroupCollection> & lg, |
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const Eigen::MatrixBase<ConfigL_t> & q0, |
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const Eigen::MatrixBase<ConfigR_t> & q1, |
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const typename ConfigL_t::Scalar & prec) |
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{ |
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PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigL_t, q0, nq(lg)); |
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PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigR_t, q1, nq(lg)); |
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bool res; |
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typedef LieGroupIsSameConfigurationVisitor<ConfigL_t, ConfigR_t> Operation; |
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Operation::run(lg, typename Operation::ArgsType(q0, q1, prec, res)); |
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return res; |
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} |
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#define PINOCCHIO_LG_VISITOR(Name, _method) \ |
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/** @brief Visitor of the Lie Group _method method */ \ |
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template<class Matrix1_t, class Matrix2_t> \ |
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struct LieGroup##Name##Visitor \ |
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: visitor::LieGroupVisitorBase<LieGroup##Name##Visitor<Matrix1_t, Matrix2_t>> \ |
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{ \ |
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typedef boost::fusion::vector< \ |
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const Eigen::MatrixBase<Matrix1_t> &, \ |
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const Eigen::MatrixBase<Matrix2_t> &, \ |
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typename Matrix1_t::Scalar &> \ |
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ArgsType; \ |
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LIE_GROUP_VISITOR(LieGroup##Name##Visitor); \ |
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template<typename LieGroupDerived> \ |
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static void algo( \ |
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const LieGroupBase<LieGroupDerived> & lg, \ |
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const Eigen::MatrixBase<Matrix1_t> & m1, \ |
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const Eigen::MatrixBase<Matrix2_t> & m2, \ |
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typename Matrix1_t::Scalar & res) \ |
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{ \ |
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res = lg._method(m1, m2); \ |
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} \ |
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} |
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// PINOCCHIO_LG_VISITOR(Distance, distance); |
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PINOCCHIO_LG_VISITOR(SquaredDistance, squaredDistance); |
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template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t> |
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inline typename ConfigL_t::Scalar squaredDistance( |
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const LieGroupGenericTpl<LieGroupCollection> & lg, |
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const Eigen::MatrixBase<ConfigL_t> & q0, |
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const Eigen::MatrixBase<ConfigR_t> & q1) |
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{ |
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PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigL_t, q0, nq(lg)); |
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PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigR_t, q1, nq(lg)); |
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typedef LieGroupSquaredDistanceVisitor<ConfigL_t, ConfigR_t> Operation; |
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typename ConfigL_t::Scalar d2; |
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Operation::run(lg, typename Operation::ArgsType(q0, q1, d2)); |
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return d2; |
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} |
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#undef PINOCCHIO_LG_VISITOR |
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#define PINOCCHIO_LG_VISITOR(Name, _method) \ |
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/** @brief Visitor of the Lie Group _method method */ \ |
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template<class Matrix1_t, class Matrix2_t, class Matrix3_t> \ |
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struct LieGroup##Name##Visitor \ |
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: visitor::LieGroupVisitorBase<LieGroup##Name##Visitor<Matrix1_t, Matrix2_t, Matrix3_t>> \ |
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{ \ |
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typedef boost::fusion::vector< \ |
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const Eigen::MatrixBase<Matrix1_t> &, \ |
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const Eigen::MatrixBase<Matrix2_t> &, \ |
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const Eigen::MatrixBase<Matrix3_t> &> \ |
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ArgsType; \ |
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LIE_GROUP_VISITOR(LieGroup##Name##Visitor); \ |
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template<typename LieGroupDerived> \ |
| 351 |
|
|
static void algo( \ |
| 352 |
|
|
const LieGroupBase<LieGroupDerived> & lg, \ |
| 353 |
|
|
const Eigen::MatrixBase<Matrix1_t> & m1, \ |
| 354 |
|
|
const Eigen::MatrixBase<Matrix2_t> & m2, \ |
| 355 |
|
|
const Eigen::MatrixBase<Matrix3_t> & m3) \ |
| 356 |
|
|
{ \ |
| 357 |
|
|
lg._method(m1, m2, m3); \ |
| 358 |
|
|
} \ |
| 359 |
|
|
} |
| 360 |
|
|
|
| 361 |
|
✗ |
PINOCCHIO_LG_VISITOR(Integrate, integrate); |
| 362 |
|
✗ |
PINOCCHIO_LG_VISITOR(Difference, difference); |
| 363 |
|
✗ |
PINOCCHIO_LG_VISITOR(RandomConfiguration, randomConfiguration); |
| 364 |
|
|
|
| 365 |
|
|
template<typename LieGroupCollection, class ConfigIn_t, class Tangent_t, class ConfigOut_t> |
| 366 |
|
✗ |
inline void integrate( |
| 367 |
|
|
const LieGroupGenericTpl<LieGroupCollection> & lg, |
| 368 |
|
|
const Eigen::MatrixBase<ConfigIn_t> & q, |
| 369 |
|
|
const Eigen::MatrixBase<Tangent_t> & v, |
| 370 |
|
|
const Eigen::MatrixBase<ConfigOut_t> & qout) |
| 371 |
|
|
{ |
| 372 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigIn_t, q, nq(lg)); |
| 373 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(Tangent_t, v, nv(lg)); |
| 374 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigOut_t, qout, nq(lg)); |
| 375 |
|
|
|
| 376 |
|
|
typedef LieGroupIntegrateVisitor<ConfigIn_t, Tangent_t, ConfigOut_t> Operation; |
| 377 |
|
✗ |
Operation::run(lg, typename Operation::ArgsType(q, v, qout)); |
| 378 |
|
|
} |
| 379 |
|
|
|
| 380 |
|
|
template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class Tangent_t> |
| 381 |
|
✗ |
inline void difference( |
| 382 |
|
|
const LieGroupGenericTpl<LieGroupCollection> & lg, |
| 383 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
| 384 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
| 385 |
|
|
const Eigen::MatrixBase<Tangent_t> & v) |
| 386 |
|
|
{ |
| 387 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigL_t, q0, nq(lg)); |
| 388 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigR_t, q1, nq(lg)); |
| 389 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(Tangent_t, v, nv(lg)); |
| 390 |
|
|
|
| 391 |
|
|
typedef LieGroupDifferenceVisitor<ConfigL_t, ConfigR_t, Tangent_t> Operation; |
| 392 |
|
✗ |
Operation::run(lg, typename Operation::ArgsType(q0, q1, v)); |
| 393 |
|
|
} |
| 394 |
|
|
|
| 395 |
|
|
template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class ConfigOut_t> |
| 396 |
|
✗ |
inline void randomConfiguration( |
| 397 |
|
|
const LieGroupGenericTpl<LieGroupCollection> & lg, |
| 398 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
| 399 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
| 400 |
|
|
const Eigen::MatrixBase<ConfigOut_t> & qout) |
| 401 |
|
|
{ |
| 402 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigL_t, q0, nq(lg)); |
| 403 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigR_t, q1, nq(lg)); |
| 404 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigOut_t, qout, nq(lg)); |
| 405 |
|
|
|
| 406 |
|
|
typedef LieGroupRandomConfigurationVisitor<ConfigL_t, ConfigR_t, ConfigOut_t> Operation; |
| 407 |
|
✗ |
Operation::run(lg, typename Operation::ArgsType(q0, q1, qout)); |
| 408 |
|
|
} |
| 409 |
|
|
|
| 410 |
|
|
#undef PINOCCHIO_LG_VISITOR |
| 411 |
|
|
|
| 412 |
|
|
/** @brief Visitor of the Lie Group interpolate method */ |
| 413 |
|
|
template<class Matrix1_t, class Matrix2_t, class Matrix3_t> |
| 414 |
|
|
struct LieGroupInterpolateVisitor |
| 415 |
|
|
: visitor::LieGroupVisitorBase<LieGroupInterpolateVisitor<Matrix1_t, Matrix2_t, Matrix3_t>> |
| 416 |
|
|
{ |
| 417 |
|
|
typedef boost::fusion::vector< |
| 418 |
|
|
const Eigen::MatrixBase<Matrix1_t> &, |
| 419 |
|
|
const Eigen::MatrixBase<Matrix2_t> &, |
| 420 |
|
|
const typename Matrix1_t::Scalar &, |
| 421 |
|
|
const Eigen::MatrixBase<Matrix3_t> &> |
| 422 |
|
|
ArgsType; |
| 423 |
|
|
LIE_GROUP_VISITOR(LieGroupInterpolateVisitor); |
| 424 |
|
|
template<typename LieGroupDerived> |
| 425 |
|
|
static void algo( |
| 426 |
|
|
const LieGroupBase<LieGroupDerived> & lg, |
| 427 |
|
|
const Eigen::MatrixBase<Matrix1_t> & q0, |
| 428 |
|
|
const Eigen::MatrixBase<Matrix2_t> & q1, |
| 429 |
|
|
const typename Matrix1_t::Scalar & u, |
| 430 |
|
|
const Eigen::MatrixBase<Matrix3_t> & qout) |
| 431 |
|
|
{ |
| 432 |
|
|
lg.interpolate(q0, q1, u, qout); |
| 433 |
|
|
} |
| 434 |
|
|
}; |
| 435 |
|
|
|
| 436 |
|
|
template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class ConfigOut_t> |
| 437 |
|
|
inline void interpolate( |
| 438 |
|
|
const LieGroupGenericTpl<LieGroupCollection> & lg, |
| 439 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
| 440 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
| 441 |
|
|
const typename ConfigL_t::Scalar & u, |
| 442 |
|
|
const Eigen::MatrixBase<ConfigOut_t> & qout) |
| 443 |
|
|
{ |
| 444 |
|
|
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigL_t, q0, nq(lg)); |
| 445 |
|
|
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigR_t, q1, nq(lg)); |
| 446 |
|
|
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigOut_t, qout, nq(lg)); |
| 447 |
|
|
|
| 448 |
|
|
typedef LieGroupInterpolateVisitor<ConfigL_t, ConfigR_t, ConfigOut_t> Operation; |
| 449 |
|
|
Operation::run(lg, typename Operation::ArgsType(q0, q1, u, qout)); |
| 450 |
|
|
} |
| 451 |
|
|
|
| 452 |
|
|
#define PINOCCHIO_LG_VISITOR(Name, _method, HasArgPos) \ |
| 453 |
|
|
/** @brief Visitor of the Lie Group _method method */ \ |
| 454 |
|
|
template<class Matrix1_t, class Matrix2_t, class Matrix3_t> \ |
| 455 |
|
|
struct LieGroup##Name##Visitor \ |
| 456 |
|
|
: visitor::LieGroupVisitorBase<LieGroup##Name##Visitor<Matrix1_t, Matrix2_t, Matrix3_t>> \ |
| 457 |
|
|
{ \ |
| 458 |
|
|
typedef boost::fusion::vector< \ |
| 459 |
|
|
const Eigen::MatrixBase<Matrix1_t> &, \ |
| 460 |
|
|
const Eigen::MatrixBase<Matrix2_t> &, \ |
| 461 |
|
|
const Eigen::MatrixBase<Matrix3_t> &, \ |
| 462 |
|
|
const ArgumentPosition BOOST_PP_COMMA_IF(HasArgPos) \ |
| 463 |
|
|
BOOST_PP_IIF(HasArgPos, const AssignmentOperatorType, )> \ |
| 464 |
|
|
ArgsType; \ |
| 465 |
|
|
LIE_GROUP_VISITOR(LieGroup##Name##Visitor); \ |
| 466 |
|
|
template<typename LieGroupDerived> \ |
| 467 |
|
|
static void algo( \ |
| 468 |
|
|
const LieGroupBase<LieGroupDerived> & lg, \ |
| 469 |
|
|
const Eigen::MatrixBase<Matrix1_t> & m1, \ |
| 470 |
|
|
const Eigen::MatrixBase<Matrix2_t> & m2, \ |
| 471 |
|
|
const Eigen::MatrixBase<Matrix3_t> & m3, \ |
| 472 |
|
|
const ArgumentPosition arg BOOST_PP_COMMA_IF(HasArgPos) \ |
| 473 |
|
|
BOOST_PP_IF(HasArgPos, const AssignmentOperatorType op = SETTO, )) \ |
| 474 |
|
|
{ \ |
| 475 |
|
|
lg._method(m1, m2, m3, arg BOOST_PP_COMMA_IF(HasArgPos) BOOST_PP_IF(HasArgPos, op, )); \ |
| 476 |
|
|
} \ |
| 477 |
|
|
} |
| 478 |
|
|
|
| 479 |
|
✗ |
PINOCCHIO_LG_VISITOR(DIntegrate, dIntegrate, 1); |
| 480 |
|
✗ |
PINOCCHIO_LG_VISITOR(DDifference, dDifference, 0); |
| 481 |
|
|
|
| 482 |
|
|
template<typename LieGroupCollection, class Config_t, class Tangent_t, class JacobianOut_t> |
| 483 |
|
✗ |
void dIntegrate( |
| 484 |
|
|
const LieGroupGenericTpl<LieGroupCollection> & lg, |
| 485 |
|
|
const Eigen::MatrixBase<Config_t> & q, |
| 486 |
|
|
const Eigen::MatrixBase<Tangent_t> & v, |
| 487 |
|
|
const Eigen::MatrixBase<JacobianOut_t> & J, |
| 488 |
|
|
const ArgumentPosition arg, |
| 489 |
|
|
const AssignmentOperatorType op) |
| 490 |
|
|
{ |
| 491 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(Config_t, q, nq(lg)); |
| 492 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(Tangent_t, v, nv(lg)); |
| 493 |
|
✗ |
PINOCCHIO_LG_CHECK_MATRIX_SIZE(J, nv(lg), nv(lg)); |
| 494 |
|
|
|
| 495 |
|
|
typedef LieGroupDIntegrateVisitor<Config_t, Tangent_t, JacobianOut_t> Operation; |
| 496 |
|
✗ |
Operation::run(lg, typename Operation::ArgsType(q, v, J, arg, op)); |
| 497 |
|
|
} |
| 498 |
|
|
|
| 499 |
|
|
template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class JacobianOut_t> |
| 500 |
|
✗ |
void dDifference( |
| 501 |
|
|
const LieGroupGenericTpl<LieGroupCollection> & lg, |
| 502 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
| 503 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
| 504 |
|
|
const Eigen::MatrixBase<JacobianOut_t> & J, |
| 505 |
|
|
const ArgumentPosition arg) |
| 506 |
|
|
{ |
| 507 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigL_t, q0, nq(lg)); |
| 508 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigR_t, q1, nq(lg)); |
| 509 |
|
✗ |
PINOCCHIO_LG_CHECK_MATRIX_SIZE(J, nv(lg), nv(lg)); |
| 510 |
|
|
|
| 511 |
|
|
typedef LieGroupDDifferenceVisitor<ConfigL_t, ConfigR_t, JacobianOut_t> Operation; |
| 512 |
|
✗ |
Operation::run(lg, typename Operation::ArgsType(q0, q1, J, arg)); |
| 513 |
|
|
} |
| 514 |
|
|
|
| 515 |
|
|
#undef PINOCCHIO_LG_VISITOR |
| 516 |
|
|
|
| 517 |
|
|
template<class M1_t, class M2_t, class M3_t, class M4_t, bool dIntegrateOnTheLeft> |
| 518 |
|
|
struct LieGroupDIntegrateProductVisitor |
| 519 |
|
|
: visitor::LieGroupVisitorBase< |
| 520 |
|
|
LieGroupDIntegrateProductVisitor<M1_t, M2_t, M3_t, M4_t, dIntegrateOnTheLeft>> |
| 521 |
|
|
{ |
| 522 |
|
|
typedef boost::fusion::vector< |
| 523 |
|
|
const M1_t &, |
| 524 |
|
|
const M2_t &, |
| 525 |
|
|
const M3_t &, |
| 526 |
|
|
M4_t &, |
| 527 |
|
|
const ArgumentPosition, |
| 528 |
|
|
const AssignmentOperatorType> |
| 529 |
|
|
ArgsType; |
| 530 |
|
|
|
| 531 |
|
✗ |
LIE_GROUP_VISITOR(LieGroupDIntegrateProductVisitor); |
| 532 |
|
|
|
| 533 |
|
|
template<typename LieGroupDerived> |
| 534 |
|
✗ |
static void algo( |
| 535 |
|
|
const LieGroupBase<LieGroupDerived> & lg, |
| 536 |
|
|
const M1_t & q, |
| 537 |
|
|
const M2_t & v, |
| 538 |
|
|
const M3_t & J_in, |
| 539 |
|
|
M4_t & J_out, |
| 540 |
|
|
const ArgumentPosition arg, |
| 541 |
|
|
const AssignmentOperatorType op) |
| 542 |
|
|
{ |
| 543 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 544 |
|
|
arg == ARG0 || arg == ARG1, "arg should be either ARG0 or ARG1"); |
| 545 |
|
✗ |
switch (arg) |
| 546 |
|
|
{ |
| 547 |
|
✗ |
case ARG0: |
| 548 |
|
|
if (dIntegrateOnTheLeft) |
| 549 |
|
✗ |
lg.dIntegrate_dq(q, v, SELF, J_in, J_out, op); |
| 550 |
|
|
else |
| 551 |
|
✗ |
lg.dIntegrate_dq(q, v, J_in, SELF, J_out, op); |
| 552 |
|
✗ |
return; |
| 553 |
|
✗ |
case ARG1: |
| 554 |
|
|
if (dIntegrateOnTheLeft) |
| 555 |
|
✗ |
lg.dIntegrate_dv(q, v, SELF, J_in, J_out, op); |
| 556 |
|
|
else |
| 557 |
|
✗ |
lg.dIntegrate_dv(q, v, J_in, SELF, J_out, op); |
| 558 |
|
✗ |
return; |
| 559 |
|
✗ |
default: |
| 560 |
|
✗ |
return; |
| 561 |
|
|
} |
| 562 |
|
|
} |
| 563 |
|
|
}; |
| 564 |
|
|
|
| 565 |
|
|
template< |
| 566 |
|
|
typename LieGroupCollection, |
| 567 |
|
|
class Config_t, |
| 568 |
|
|
class Tangent_t, |
| 569 |
|
|
class JacobianIn_t, |
| 570 |
|
|
class JacobianOut_t> |
| 571 |
|
✗ |
void dIntegrate( |
| 572 |
|
|
const LieGroupGenericTpl<LieGroupCollection> & lg, |
| 573 |
|
|
const Eigen::MatrixBase<Config_t> & q, |
| 574 |
|
|
const Eigen::MatrixBase<Tangent_t> & v, |
| 575 |
|
|
const Eigen::MatrixBase<JacobianIn_t> & J_in, |
| 576 |
|
|
int self, |
| 577 |
|
|
const Eigen::MatrixBase<JacobianOut_t> & J_out, |
| 578 |
|
|
const ArgumentPosition arg, |
| 579 |
|
|
const AssignmentOperatorType op) |
| 580 |
|
|
{ |
| 581 |
|
|
PINOCCHIO_UNUSED_VARIABLE(self); |
| 582 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(Config_t, q, nq(lg)); |
| 583 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(Tangent_t, v, nv(lg)); |
| 584 |
|
|
|
| 585 |
|
|
typedef LieGroupDIntegrateProductVisitor< |
| 586 |
|
|
Config_t, Tangent_t, JacobianIn_t, JacobianOut_t, false> |
| 587 |
|
|
Operation; |
| 588 |
|
✗ |
Operation::run( |
| 589 |
|
✗ |
lg, typename Operation::ArgsType( |
| 590 |
|
|
q.derived(), v.derived(), J_in.derived(), |
| 591 |
|
✗ |
PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t, J_out), arg, op)); |
| 592 |
|
|
} |
| 593 |
|
|
|
| 594 |
|
|
template< |
| 595 |
|
|
typename LieGroupCollection, |
| 596 |
|
|
class Config_t, |
| 597 |
|
|
class Tangent_t, |
| 598 |
|
|
class JacobianIn_t, |
| 599 |
|
|
class JacobianOut_t> |
| 600 |
|
✗ |
void dIntegrate( |
| 601 |
|
|
const LieGroupGenericTpl<LieGroupCollection> & lg, |
| 602 |
|
|
const Eigen::MatrixBase<Config_t> & q, |
| 603 |
|
|
const Eigen::MatrixBase<Tangent_t> & v, |
| 604 |
|
|
int self, |
| 605 |
|
|
const Eigen::MatrixBase<JacobianIn_t> & J_in, |
| 606 |
|
|
const Eigen::MatrixBase<JacobianOut_t> & J_out, |
| 607 |
|
|
const ArgumentPosition arg, |
| 608 |
|
|
const AssignmentOperatorType op) |
| 609 |
|
|
{ |
| 610 |
|
|
PINOCCHIO_UNUSED_VARIABLE(self); |
| 611 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(Config_t, q, nq(lg)); |
| 612 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(Tangent_t, v, nv(lg)); |
| 613 |
|
|
|
| 614 |
|
|
typedef LieGroupDIntegrateProductVisitor<Config_t, Tangent_t, JacobianIn_t, JacobianOut_t, true> |
| 615 |
|
|
Operation; |
| 616 |
|
✗ |
Operation::run( |
| 617 |
|
✗ |
lg, typename Operation::ArgsType( |
| 618 |
|
|
q.derived(), v.derived(), J_in.derived(), |
| 619 |
|
✗ |
PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t, J_out), arg, op)); |
| 620 |
|
|
} |
| 621 |
|
|
|
| 622 |
|
|
template< |
| 623 |
|
|
class M1_t, |
| 624 |
|
|
class M2_t, |
| 625 |
|
|
class M3_t, |
| 626 |
|
|
class M4_t, |
| 627 |
|
|
bool dDifferenceOnTheLeft, |
| 628 |
|
|
ArgumentPosition arg> |
| 629 |
|
|
struct LieGroupDDifferenceProductVisitor |
| 630 |
|
|
: visitor::LieGroupVisitorBase< |
| 631 |
|
|
LieGroupDDifferenceProductVisitor<M1_t, M2_t, M3_t, M4_t, dDifferenceOnTheLeft, arg>> |
| 632 |
|
|
{ |
| 633 |
|
|
typedef boost::fusion:: |
| 634 |
|
|
vector<const M1_t &, const M2_t &, const M3_t &, M4_t &, const AssignmentOperatorType> |
| 635 |
|
|
ArgsType; |
| 636 |
|
|
|
| 637 |
|
✗ |
LIE_GROUP_VISITOR(LieGroupDDifferenceProductVisitor); |
| 638 |
|
|
|
| 639 |
|
|
template<typename LieGroupDerived> |
| 640 |
|
✗ |
static void algo( |
| 641 |
|
|
const LieGroupBase<LieGroupDerived> & lg, |
| 642 |
|
|
const M1_t & q0, |
| 643 |
|
|
const M2_t & q1, |
| 644 |
|
|
const M3_t & J_in, |
| 645 |
|
|
M4_t & J_out, |
| 646 |
|
|
const AssignmentOperatorType op) |
| 647 |
|
|
{ |
| 648 |
|
|
if (dDifferenceOnTheLeft) |
| 649 |
|
✗ |
lg.template dDifference<arg>(q0, q1, SELF, J_in, J_out, op); |
| 650 |
|
|
else |
| 651 |
|
✗ |
lg.template dDifference<arg>(q0, q1, J_in, SELF, J_out, op); |
| 652 |
|
|
} |
| 653 |
|
|
}; |
| 654 |
|
|
|
| 655 |
|
|
template< |
| 656 |
|
|
ArgumentPosition arg, |
| 657 |
|
|
typename LieGroupCollection, |
| 658 |
|
|
class ConfigL_t, |
| 659 |
|
|
class ConfigR_t, |
| 660 |
|
|
class JacobianIn_t, |
| 661 |
|
|
class JacobianOut_t> |
| 662 |
|
✗ |
void dDifference( |
| 663 |
|
|
const LieGroupGenericTpl<LieGroupCollection> & lg, |
| 664 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
| 665 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
| 666 |
|
|
const Eigen::MatrixBase<JacobianIn_t> & J_in, |
| 667 |
|
|
int self, |
| 668 |
|
|
const Eigen::MatrixBase<JacobianOut_t> & J_out, |
| 669 |
|
|
const AssignmentOperatorType op) |
| 670 |
|
|
{ |
| 671 |
|
|
PINOCCHIO_UNUSED_VARIABLE(self); |
| 672 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigL_t, q0, nq(lg)); |
| 673 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigR_t, q1, nq(lg)); |
| 674 |
|
|
|
| 675 |
|
|
typedef LieGroupDDifferenceProductVisitor< |
| 676 |
|
|
ConfigL_t, ConfigR_t, JacobianIn_t, JacobianOut_t, false, arg> |
| 677 |
|
|
Operation; |
| 678 |
|
✗ |
Operation::run( |
| 679 |
|
✗ |
lg, typename Operation::ArgsType( |
| 680 |
|
|
q0.derived(), q1.derived(), J_in.derived(), |
| 681 |
|
✗ |
PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t, J_out), op)); |
| 682 |
|
|
} |
| 683 |
|
|
|
| 684 |
|
|
template< |
| 685 |
|
|
ArgumentPosition arg, |
| 686 |
|
|
typename LieGroupCollection, |
| 687 |
|
|
class ConfigL_t, |
| 688 |
|
|
class ConfigR_t, |
| 689 |
|
|
class JacobianIn_t, |
| 690 |
|
|
class JacobianOut_t> |
| 691 |
|
✗ |
void dDifference( |
| 692 |
|
|
const LieGroupGenericTpl<LieGroupCollection> & lg, |
| 693 |
|
|
const Eigen::MatrixBase<ConfigL_t> & q0, |
| 694 |
|
|
const Eigen::MatrixBase<ConfigR_t> & q1, |
| 695 |
|
|
int self, |
| 696 |
|
|
const Eigen::MatrixBase<JacobianIn_t> & J_in, |
| 697 |
|
|
const Eigen::MatrixBase<JacobianOut_t> & J_out, |
| 698 |
|
|
const AssignmentOperatorType op) |
| 699 |
|
|
{ |
| 700 |
|
|
PINOCCHIO_UNUSED_VARIABLE(self); |
| 701 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigL_t, q0, nq(lg)); |
| 702 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(ConfigR_t, q1, nq(lg)); |
| 703 |
|
|
|
| 704 |
|
|
typedef LieGroupDDifferenceProductVisitor< |
| 705 |
|
|
ConfigL_t, ConfigR_t, JacobianIn_t, JacobianOut_t, true, arg> |
| 706 |
|
|
Operation; |
| 707 |
|
✗ |
Operation::run( |
| 708 |
|
✗ |
lg, typename Operation::ArgsType( |
| 709 |
|
|
q0.derived(), q1.derived(), J_in.derived(), |
| 710 |
|
✗ |
PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t, J_out), op)); |
| 711 |
|
|
} |
| 712 |
|
|
|
| 713 |
|
|
template<class M1_t, class M2_t, class M3_t, class M4_t> |
| 714 |
|
|
struct LieGroupDIntegrateTransportVisitor |
| 715 |
|
|
: visitor::LieGroupVisitorBase<LieGroupDIntegrateTransportVisitor<M1_t, M2_t, M3_t, M4_t>> |
| 716 |
|
|
{ |
| 717 |
|
|
typedef boost::fusion::vector< |
| 718 |
|
|
const Eigen::MatrixBase<M1_t> &, |
| 719 |
|
|
const Eigen::MatrixBase<M2_t> &, |
| 720 |
|
|
const Eigen::MatrixBase<M3_t> &, |
| 721 |
|
|
const Eigen::MatrixBase<M4_t> &, |
| 722 |
|
|
const ArgumentPosition> |
| 723 |
|
|
ArgsType; |
| 724 |
|
|
|
| 725 |
|
✗ |
LIE_GROUP_VISITOR(LieGroupDIntegrateTransportVisitor); |
| 726 |
|
|
|
| 727 |
|
|
template<typename LieGroupDerived> |
| 728 |
|
✗ |
static void algo( |
| 729 |
|
|
const LieGroupBase<LieGroupDerived> & lg, |
| 730 |
|
|
const Eigen::MatrixBase<M1_t> & q, |
| 731 |
|
|
const Eigen::MatrixBase<M2_t> & v, |
| 732 |
|
|
const Eigen::MatrixBase<M3_t> & J_in, |
| 733 |
|
|
const Eigen::MatrixBase<M4_t> & J_out, |
| 734 |
|
|
const ArgumentPosition arg) |
| 735 |
|
|
{ |
| 736 |
|
✗ |
lg.dIntegrateTransport(q, v, J_in, J_out, arg); |
| 737 |
|
|
} |
| 738 |
|
|
}; |
| 739 |
|
|
|
| 740 |
|
|
template<class M1_t, class M2_t, class M3_t> |
| 741 |
|
|
struct LieGroupDIntegrateTransportVisitor<M1_t, M2_t, M3_t, void> |
| 742 |
|
|
: visitor::LieGroupVisitorBase<LieGroupDIntegrateTransportVisitor<M1_t, M2_t, M3_t, void>> |
| 743 |
|
|
{ |
| 744 |
|
|
typedef boost::fusion::vector< |
| 745 |
|
|
const Eigen::MatrixBase<M1_t> &, |
| 746 |
|
|
const Eigen::MatrixBase<M2_t> &, |
| 747 |
|
|
const Eigen::MatrixBase<M3_t> &, |
| 748 |
|
|
const ArgumentPosition> |
| 749 |
|
|
ArgsType; |
| 750 |
|
|
|
| 751 |
|
|
LIE_GROUP_VISITOR(LieGroupDIntegrateTransportVisitor); |
| 752 |
|
|
template<typename LieGroupDerived> |
| 753 |
|
|
static void algo( |
| 754 |
|
|
const LieGroupBase<LieGroupDerived> & lg, |
| 755 |
|
|
const Eigen::MatrixBase<M1_t> & q, |
| 756 |
|
|
const Eigen::MatrixBase<M2_t> & v, |
| 757 |
|
|
const Eigen::MatrixBase<M3_t> & J, |
| 758 |
|
|
const ArgumentPosition arg) |
| 759 |
|
|
{ |
| 760 |
|
|
lg.dIntegrateTransport(q, v, J, arg); |
| 761 |
|
|
} |
| 762 |
|
|
}; |
| 763 |
|
|
|
| 764 |
|
|
template< |
| 765 |
|
|
typename LieGroupCollection, |
| 766 |
|
|
class Config_t, |
| 767 |
|
|
class Tangent_t, |
| 768 |
|
|
class JacobianIn_t, |
| 769 |
|
|
class JacobianOut_t> |
| 770 |
|
✗ |
void dIntegrateTransport( |
| 771 |
|
|
const LieGroupGenericTpl<LieGroupCollection> & lg, |
| 772 |
|
|
const Eigen::MatrixBase<Config_t> & q, |
| 773 |
|
|
const Eigen::MatrixBase<Tangent_t> & v, |
| 774 |
|
|
const Eigen::MatrixBase<JacobianIn_t> & J_in, |
| 775 |
|
|
const Eigen::MatrixBase<JacobianOut_t> & J_out, |
| 776 |
|
|
const ArgumentPosition arg) |
| 777 |
|
|
{ |
| 778 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(Config_t, q, nq(lg)); |
| 779 |
|
✗ |
PINOCCHIO_LG_CHECK_VECTOR_SIZE(Tangent_t, v, nv(lg)); |
| 780 |
|
✗ |
assert(J_in.rows() == nv(lg)); |
| 781 |
|
✗ |
assert(J_out.rows() == nv(lg)); |
| 782 |
|
|
|
| 783 |
|
|
typedef LieGroupDIntegrateTransportVisitor<Config_t, Tangent_t, JacobianIn_t, JacobianOut_t> |
| 784 |
|
|
Operation; |
| 785 |
|
✗ |
Operation::run(lg, typename Operation::ArgsType(q, v, J_in, J_out, arg)); |
| 786 |
|
|
} |
| 787 |
|
|
|
| 788 |
|
|
template<typename LieGroupCollection, class Config_t, class Tangent_t, class JacobianOut_t> |
| 789 |
|
|
void dIntegrateTransport( |
| 790 |
|
|
const LieGroupGenericTpl<LieGroupCollection> & lg, |
| 791 |
|
|
const Eigen::MatrixBase<Config_t> & q, |
| 792 |
|
|
const Eigen::MatrixBase<Tangent_t> & v, |
| 793 |
|
|
const Eigen::MatrixBase<JacobianOut_t> & J, |
| 794 |
|
|
const ArgumentPosition arg) |
| 795 |
|
|
{ |
| 796 |
|
|
PINOCCHIO_LG_CHECK_VECTOR_SIZE(Config_t, q, nq(lg)); |
| 797 |
|
|
PINOCCHIO_LG_CHECK_VECTOR_SIZE(Tangent_t, v, nv(lg)); |
| 798 |
|
|
assert(J.rows() == nv(lg)); |
| 799 |
|
|
|
| 800 |
|
|
typedef LieGroupDIntegrateTransportVisitor<Config_t, Tangent_t, JacobianOut_t, void> Operation; |
| 801 |
|
|
Operation::run(lg, typename Operation::ArgsType(q, v, J, arg)); |
| 802 |
|
|
} |
| 803 |
|
|
|
| 804 |
|
|
} // namespace pinocchio |
| 805 |
|
|
|
| 806 |
|
|
#undef PINOCCHIO_LG_CHECK_VECTOR_SIZE |
| 807 |
|
|
|
| 808 |
|
|
#endif // ifndef __pinocchio_lie_group_variant_visitor_hxx__ |
| 809 |
|
|
|