| Directory: | ./ |
|---|---|
| File: | examples/overview-lie.cpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 20 | 20 | 100.0% |
| Branches: | 28 | 56 | 50.0% |
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| 1 | #include <iostream> | ||
| 2 | #include "pinocchio/multibody/liegroup/liegroup.hpp" | ||
| 3 | |||
| 4 | using namespace pinocchio; | ||
| 5 | |||
| 6 | 1 | int main() | |
| 7 | { | ||
| 8 | typedef double Scalar; | ||
| 9 | enum | ||
| 10 | { | ||
| 11 | Options = 0 | ||
| 12 | }; | ||
| 13 | |||
| 14 | typedef SpecialEuclideanOperationTpl<2, Scalar, Options> SE2Operation; | ||
| 15 |
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1 | SE2Operation aSE2; |
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1 | SE2Operation::ConfigVector_t pose_s, pose_g; |
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1 | SE2Operation::TangentVector_t delta_u; |
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1 | delta_u.setZero(); |
| 19 | |||
| 20 | // Starting configuration | ||
| 21 |
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1 | pose_s(0) = 1.0; |
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1 | pose_s(1) = 1.0; |
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1 | pose_s(2) = cos(M_PI / 4.0); |
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1 | pose_s(3) = sin(M_PI / 4.0); |
| 25 | |||
| 26 | // Goal configuration | ||
| 27 |
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1 | pose_g(0) = 3.0; |
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1 | pose_g(1) = -1.0; |
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1 | pose_g(2) = cos(-M_PI / 2.0); |
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1 | 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 |
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1 | aSE2.difference(pose_s, pose_g, delta_u); |
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1 | 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 |
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1 | SE2Operation::ConfigVector_t pose_check; |
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1 | aSE2.integrate(pose_s, delta_u, pose_check); |
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1 | std::cout << "goal configuration (from composition): " << pose_check.transpose() << std::endl; |
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1 | std::cout << "goal configuration: " << pose_g.transpose() << std::endl; |
| 43 | 1 | } | |
| 44 |