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#include <iostream> |
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#include "pinocchio/multibody/liegroup/liegroup.hpp" |
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using namespace pinocchio; |
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int main() |
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{ |
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typedef double Scalar; |
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typedef SpecialEuclideanOperationTpl<3, Scalar> SE3Operation; |
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SE3Operation aSE3; |
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SE3Operation::ConfigVector_t pose_s, pose_g; |
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SE3Operation::TangentVector_t delta_u; |
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pose_s(0) = 1.0; |
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pose_s(1) = 1.0; |
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pose_s(2) = 1; |
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pose_s(3) = -0.13795; |
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pose_s(4) = 0.13795; |
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pose_s(5) = 0.69352; |
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pose_s(6) = 0.69352; |
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pose_g(0) = 4; |
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pose_g(1) = 3; |
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pose_g(2) = 3; |
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pose_g(3) = -0.46194; |
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pose_g(4) = 0.331414; |
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pose_g(5) = 0.800103; |
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pose_g(6) = 0.191342; |
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// First normalize the inputs |
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aSE3.normalize(pose_s); |
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std::cout << "pose_s: " << pose_s.transpose() << std::endl; |
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aSE3.normalize(pose_g); |
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std::cout << "pose_g: " << pose_g.transpose() << std::endl; |
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aSE3.difference(pose_s, pose_g, delta_u); |
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std::cout << "delta_u: " << delta_u.transpose() << std::endl; |
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SE3Operation::ConfigVector_t pose_check; |
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aSE3.integrate(pose_s, delta_u, pose_check); |
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std::cout << "pose_check: " << pose_check.transpose() << std::endl; |
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return 0; |
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} |
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