| Directory: | ./ |
|---|---|
| File: | examples/overview-SE3.cpp |
| Date: | 2025-02-12 21:03:38 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 28 | 28 | 100.0% |
| Branches: | 39 | 78 | 50.0% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | #include <iostream> | ||
| 2 | #include "pinocchio/multibody/liegroup/liegroup.hpp" | ||
| 3 | |||
| 4 | using namespace pinocchio; | ||
| 5 | 1 | int main() | |
| 6 | { | ||
| 7 | typedef double Scalar; | ||
| 8 | typedef SpecialEuclideanOperationTpl<3, Scalar> SE3Operation; | ||
| 9 | |||
| 10 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | SE3Operation aSE3; |
| 11 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
1 | SE3Operation::ConfigVector_t pose_s, pose_g; |
| 12 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | SE3Operation::TangentVector_t delta_u; |
| 13 | |||
| 14 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_s(0) = 1.0; |
| 15 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_s(1) = 1.0; |
| 16 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_s(2) = 1; |
| 17 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_s(3) = -0.13795; |
| 18 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_s(4) = 0.13795; |
| 19 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_s(5) = 0.69352; |
| 20 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_s(6) = 0.69352; |
| 21 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_g(0) = 4; |
| 22 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_g(1) = 3; |
| 23 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_g(2) = 3; |
| 24 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_g(3) = -0.46194; |
| 25 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_g(4) = 0.331414; |
| 26 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_g(5) = 0.800103; |
| 27 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | pose_g(6) = 0.191342; |
| 28 | |||
| 29 | // First normalize the inputs | ||
| 30 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | aSE3.normalize(pose_s); |
| 31 |
4/8✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 1 times.
✗ Branch 11 not taken.
|
1 | std::cout << "pose_s: " << pose_s.transpose() << std::endl; |
| 32 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | aSE3.normalize(pose_g); |
| 33 |
4/8✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 1 times.
✗ Branch 11 not taken.
|
1 | std::cout << "pose_g: " << pose_g.transpose() << std::endl; |
| 34 | |||
| 35 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | aSE3.difference(pose_s, pose_g, delta_u); |
| 36 |
4/8✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 1 times.
✗ Branch 11 not taken.
|
1 | std::cout << "delta_u: " << delta_u.transpose() << std::endl; |
| 37 | |||
| 38 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | SE3Operation::ConfigVector_t pose_check; |
| 39 | |||
| 40 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | aSE3.integrate(pose_s, delta_u, pose_check); |
| 41 |
4/8✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 1 times.
✗ Branch 11 not taken.
|
1 | std::cout << "pose_check: " << pose_check.transpose() << std::endl; |
| 42 | |||
| 43 | 1 | return 0; | |
| 44 | } | ||
| 45 |