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// |
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// Copyright (c) 2016-2020 CNRS INRIA |
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// |
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#ifndef __pinocchio_math_rpy_hxx__ |
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#define __pinocchio_math_rpy_hxx__ |
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#include <Eigen/Geometry> |
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#include "pinocchio/math/sincos.hpp" |
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namespace pinocchio |
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{ |
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namespace rpy |
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{ |
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template<typename Scalar> |
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Eigen::Matrix<Scalar, 3, 3> rpyToMatrix(const Scalar & r, const Scalar & p, const Scalar & y) |
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{ |
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typedef Eigen::AngleAxis<Scalar> AngleAxis; |
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typedef Eigen::Matrix<Scalar, 3, 1> Vector3s; |
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return (AngleAxis(y, Vector3s::UnitZ()) * AngleAxis(p, Vector3s::UnitY()) |
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* AngleAxis(r, Vector3s::UnitX())) |
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.toRotationMatrix(); |
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} |
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template<typename Vector3Like> |
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Eigen:: |
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Matrix<typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> |
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rpyToMatrix(const Eigen::MatrixBase<Vector3Like> & rpy) |
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{ |
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PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(Vector3Like, rpy, 3, 1); |
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return rpyToMatrix(rpy[0], rpy[1], rpy[2]); |
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} |
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template<typename Matrix3Like> |
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Eigen:: |
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Matrix<typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options> |
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matrixToRpy(const Eigen::MatrixBase<Matrix3Like> & R) |
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{ |
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PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix3Like, R, 3, 3); |
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assert(R.isUnitary() && "R is not a unitary matrix"); |
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typedef typename Matrix3Like::Scalar Scalar; |
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typedef Eigen::Matrix<Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options> |
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ReturnType; |
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static const Scalar pi = PI<Scalar>(); |
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ReturnType res = R.eulerAngles(2, 1, 0).reverse(); |
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if (res[1] < -pi / 2) |
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res[1] += 2 * pi; |
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if (res[1] > pi / 2) |
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{ |
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res[1] = pi - res[1]; |
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if (res[0] < Scalar(0)) |
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res[0] += pi; |
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else |
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res[0] -= pi; |
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// res[2] > 0 according to Eigen's eulerAngles doc, no need to check its sign |
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res[2] -= pi; |
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} |
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return res; |
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} |
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template<typename Vector3Like> |
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Eigen:: |
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Matrix<typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> |
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computeRpyJacobian(const Eigen::MatrixBase<Vector3Like> & rpy, const ReferenceFrame rf) |
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{ |
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typedef typename Vector3Like::Scalar Scalar; |
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typedef Eigen::Matrix< |
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typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> |
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ReturnType; |
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ReturnType J; |
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const Scalar p = rpy[1]; |
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Scalar sp, cp; |
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SINCOS(p, &sp, &cp); |
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switch (rf) |
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{ |
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case LOCAL: { |
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const Scalar r = rpy[0]; |
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Scalar sr, cr; |
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SINCOS(r, &sr, &cr); |
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J << Scalar(1.0), Scalar(0.0), -sp, Scalar(0.0), cr, sr * cp, Scalar(0.0), -sr, cr * cp; |
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return J; |
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} |
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case WORLD: |
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case LOCAL_WORLD_ALIGNED: { |
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const Scalar y = rpy[2]; |
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Scalar sy, cy; |
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SINCOS(y, &sy, &cy); |
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J << cp * cy, -sy, Scalar(0.0), cp * sy, cy, Scalar(0.0), -sp, Scalar(0.0), Scalar(1.0); |
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return J; |
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} |
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default: { |
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throw std::invalid_argument("Bad reference frame."); |
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} |
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} |
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} |
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template<typename Vector3Like> |
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Eigen:: |
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Matrix<typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> |
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computeRpyJacobianInverse(const Eigen::MatrixBase<Vector3Like> & rpy, const ReferenceFrame rf) |
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{ |
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typedef typename Vector3Like::Scalar Scalar; |
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typedef Eigen::Matrix< |
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typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> |
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ReturnType; |
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ReturnType J; |
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const Scalar p = rpy[1]; |
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Scalar sp, cp; |
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SINCOS(p, &sp, &cp); |
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Scalar tp = sp / cp; |
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switch (rf) |
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{ |
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case LOCAL: { |
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const Scalar r = rpy[0]; |
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Scalar sr, cr; |
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SINCOS(r, &sr, &cr); |
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J << Scalar(1.0), sr * tp, cr * tp, Scalar(0.0), cr, -sr, Scalar(0.0), sr / cp, cr / cp; |
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return J; |
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} |
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case WORLD: |
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case LOCAL_WORLD_ALIGNED: { |
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const Scalar y = rpy[2]; |
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Scalar sy, cy; |
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SINCOS(y, &sy, &cy); |
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J << cy / cp, sy / cp, Scalar(0.0), -sy, cy, Scalar(0.0), cy * tp, sy * tp, Scalar(1.0); |
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return J; |
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} |
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default: { |
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throw std::invalid_argument("Bad reference frame."); |
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} |
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} |
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} |
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template<typename Vector3Like0, typename Vector3Like1> |
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Eigen:: |
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Matrix<typename Vector3Like0::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like0)::Options> |
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computeRpyJacobianTimeDerivative( |
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const Eigen::MatrixBase<Vector3Like0> & rpy, |
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const Eigen::MatrixBase<Vector3Like1> & rpydot, |
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const ReferenceFrame rf) |
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{ |
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typedef typename Vector3Like0::Scalar Scalar; |
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typedef Eigen::Matrix< |
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typename Vector3Like0::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like0)::Options> |
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ReturnType; |
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ReturnType J; |
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const Scalar p = rpy[1]; |
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const Scalar dp = rpydot[1]; |
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Scalar sp, cp; |
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SINCOS(p, &sp, &cp); |
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switch (rf) |
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{ |
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case LOCAL: { |
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const Scalar r = rpy[0]; |
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const Scalar dr = rpydot[0]; |
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Scalar sr, cr; |
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SINCOS(r, &sr, &cr); |
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J << Scalar(0.0), Scalar(0.0), -cp * dp, Scalar(0.0), -sr * dr, cr * cp * dr - sr * sp * dp, |
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Scalar(0.0), -cr * dr, -sr * cp * dr - cr * sp * dp; |
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return J; |
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} |
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case WORLD: |
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case LOCAL_WORLD_ALIGNED: { |
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const Scalar y = rpy[2]; |
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const Scalar dy = rpydot[2]; |
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Scalar sy, cy; |
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SINCOS(y, &sy, &cy); |
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J << -sp * cy * dp - cp * sy * dy, -cy * dy, Scalar(0.0), cp * cy * dy - sp * sy * dp, |
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-sy * dy, Scalar(0.0), -cp * dp, Scalar(0.0), Scalar(0.0); |
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return J; |
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} |
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default: { |
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throw std::invalid_argument("Bad reference frame."); |
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} |
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} |
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} |
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} // namespace rpy |
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} // namespace pinocchio |
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#endif // #ifndef __pinocchio_math_rpy_hxx__ |
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