| Line |
Branch |
Exec |
Source |
| 1 |
|
|
#include <iostream> |
| 2 |
|
|
#include "pinocchio/multibody/liegroup/liegroup.hpp" |
| 3 |
|
|
|
| 4 |
|
|
using namespace pinocchio; |
| 5 |
|
|
|
| 6 |
|
✗ |
int main() |
| 7 |
|
|
{ |
| 8 |
|
|
typedef double Scalar; |
| 9 |
|
|
enum |
| 10 |
|
|
{ |
| 11 |
|
|
Options = 0 |
| 12 |
|
|
}; |
| 13 |
|
|
|
| 14 |
|
|
typedef SpecialEuclideanOperationTpl<2, Scalar, Options> SE2Operation; |
| 15 |
|
✗ |
SE2Operation aSE2; |
| 16 |
|
✗ |
SE2Operation::ConfigVector_t pose_s, pose_g; |
| 17 |
|
✗ |
SE2Operation::TangentVector_t delta_u; |
| 18 |
|
✗ |
delta_u.setZero(); |
| 19 |
|
|
|
| 20 |
|
|
// Starting configuration |
| 21 |
|
✗ |
pose_s(0) = 1.0; |
| 22 |
|
✗ |
pose_s(1) = 1.0; |
| 23 |
|
✗ |
pose_s(2) = cos(M_PI / 4.0); |
| 24 |
|
✗ |
pose_s(3) = sin(M_PI / 4.0); |
| 25 |
|
|
|
| 26 |
|
|
// Goal configuration |
| 27 |
|
✗ |
pose_g(0) = 3.0; |
| 28 |
|
✗ |
pose_g(1) = -1.0; |
| 29 |
|
✗ |
pose_g(2) = cos(-M_PI / 2.0); |
| 30 |
|
✗ |
pose_g(3) = sin(-M_PI / 2.0); |
| 31 |
|
|
|
| 32 |
|
|
// Computes the differences (expressed in the tangent space of the configuration space) between |
| 33 |
|
|
// the starting and the goal configuration |
| 34 |
|
✗ |
aSE2.difference(pose_s, pose_g, delta_u); |
| 35 |
|
✗ |
std::cout << "difference: " << delta_u.transpose() << std::endl; |
| 36 |
|
|
|
| 37 |
|
|
// Check that the composition of the starting configuration and the difference vector gives the |
| 38 |
|
|
// goal configuration |
| 39 |
|
✗ |
SE2Operation::ConfigVector_t pose_check; |
| 40 |
|
✗ |
aSE2.integrate(pose_s, delta_u, pose_check); |
| 41 |
|
✗ |
std::cout << "goal configuration (from composition): " << pose_check.transpose() << std::endl; |
| 42 |
|
✗ |
std::cout << "goal configuration: " << pose_g.transpose() << std::endl; |
| 43 |
|
|
} |
| 44 |
|
|
|