| Directory: | ./ |
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| File: | include/pinocchio/spatial/spatial-axis.hpp |
| Date: | 2025-02-12 21:03:38 |
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| 1 | // | ||
| 2 | // Copyright (c) 2017-2019 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_spatial_axis_hpp__ | ||
| 6 | #define __pinocchio_spatial_axis_hpp__ | ||
| 7 | |||
| 8 | #include "pinocchio/spatial/fwd.hpp" | ||
| 9 | #include "pinocchio/spatial/cartesian-axis.hpp" | ||
| 10 | #include "pinocchio/spatial/motion.hpp" | ||
| 11 | #include "pinocchio/spatial/force.hpp" | ||
| 12 | |||
| 13 | namespace pinocchio | ||
| 14 | { | ||
| 15 | template<int axis> | ||
| 16 | struct SpatialAxis; | ||
| 17 | |||
| 18 | template<int axis, typename MotionDerived> | ||
| 19 | struct MotionAlgebraAction<SpatialAxis<axis>, MotionDerived> | ||
| 20 | { | ||
| 21 | typedef typename MotionDerived::MotionPlain ReturnType; | ||
| 22 | }; | ||
| 23 | |||
| 24 | template<int _axis> | ||
| 25 | struct SpatialAxis //: MotionBase< SpatialAxis<_axis> > | ||
| 26 | { | ||
| 27 | enum | ||
| 28 | { | ||
| 29 | axis = _axis, | ||
| 30 | dim = 6 | ||
| 31 | }; | ||
| 32 | typedef CartesianAxis<_axis % 3> CartesianAxis3; | ||
| 33 | |||
| 34 | enum | ||
| 35 | { | ||
| 36 | LINEAR = 0, | ||
| 37 | ANGULAR = 3 | ||
| 38 | }; | ||
| 39 | |||
| 40 | template<typename Derived1, typename Derived2> | ||
| 41 | inline static void cross(const MotionDense<Derived1> & min, const MotionDense<Derived2> & mout); | ||
| 42 | |||
| 43 | template<typename Derived> | ||
| 44 | 12 | static typename traits<Derived>::MotionPlain cross(const MotionDense<Derived> & min) | |
| 45 | { | ||
| 46 | 12 | typename MotionDense<Derived>::MotionPlain res; | |
| 47 | 12 | cross(min, res); | |
| 48 | 12 | return res; | |
| 49 | } | ||
| 50 | |||
| 51 | template<typename Derived1, typename Derived2> | ||
| 52 | inline static void cross(const ForceDense<Derived1> & fin, const ForceDense<Derived2> & fout); | ||
| 53 | |||
| 54 | template<typename Derived> | ||
| 55 | 12 | static typename traits<Derived>::ForcePlain cross(const ForceDense<Derived> & fin) | |
| 56 | { | ||
| 57 | 12 | typename ForceDense<Derived>::ForcePlain fout; | |
| 58 | 12 | cross(fin, fout); | |
| 59 | 12 | return fout; | |
| 60 | } | ||
| 61 | |||
| 62 | template<typename Scalar> | ||
| 63 | 10872 | MotionTpl<Scalar> operator*(const Scalar & s) const | |
| 64 | { | ||
| 65 | typedef MotionTpl<Scalar> ReturnType; | ||
| 66 | 10872 | ReturnType res; | |
| 67 |
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76104 | for (Eigen::DenseIndex i = 0; i < dim; ++i) |
| 68 |
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65232 | res.toVector()[i] = i == axis ? s : Scalar(0); |
| 69 | |||
| 70 | 10872 | return res; | |
| 71 | } | ||
| 72 | |||
| 73 | template<typename Scalar> | ||
| 74 | 12 | friend inline MotionTpl<Scalar> operator*(const Scalar & s, const SpatialAxis &) | |
| 75 | { | ||
| 76 |
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24 | return SpatialAxis() * s; |
| 77 | } | ||
| 78 | |||
| 79 | template<typename Derived> | ||
| 80 | 1021 | friend Derived & operator<<(MotionDense<Derived> & min, const SpatialAxis &) | |
| 81 | { | ||
| 82 | typedef typename traits<Derived>::Scalar Scalar; | ||
| 83 | 1021 | min.setZero(); | |
| 84 |
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1021 | min.toVector()[axis] = Scalar(1); |
| 85 | 1021 | return min.derived(); | |
| 86 | } | ||
| 87 | |||
| 88 | template<typename MotionDerived> | ||
| 89 | 138 | typename MotionDerived::MotionPlain motionAction(const MotionDense<MotionDerived> & m) const | |
| 90 | { | ||
| 91 | 138 | typename MotionDerived::MotionPlain res; | |
| 92 | if ((LINEAR == 0 && axis < 3) || (LINEAR == 3 && axis >= 3)) | ||
| 93 | { | ||
| 94 |
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18 | res.angular().setZero(); |
| 95 |
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18 | CartesianAxis3::cross(-m.angular(), res.linear()); |
| 96 | } | ||
| 97 | else | ||
| 98 | { | ||
| 99 |
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120 | CartesianAxis3::cross(-m.linear(), res.linear()); |
| 100 |
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120 | CartesianAxis3::cross(-m.angular(), res.angular()); |
| 101 | } | ||
| 102 | |||
| 103 | 138 | return res; | |
| 104 | } | ||
| 105 | |||
| 106 | }; // struct SpatialAxis | ||
| 107 | |||
| 108 | template<int axis> | ||
| 109 | template<typename Derived1, typename Derived2> | ||
| 110 | inline void | ||
| 111 | 12 | SpatialAxis<axis>::cross(const MotionDense<Derived1> & min, const MotionDense<Derived2> & mout) | |
| 112 | { | ||
| 113 | 12 | Derived2 & mout_ = PINOCCHIO_EIGEN_CONST_CAST(Derived2, mout); | |
| 114 | |||
| 115 | if ((LINEAR == 0 && axis < 3) || (LINEAR == 3 && axis >= 3)) | ||
| 116 | { | ||
| 117 |
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6 | mout_.angular().setZero(); |
| 118 |
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6 | CartesianAxis3::cross(min.angular(), mout_.linear()); |
| 119 | } | ||
| 120 | else | ||
| 121 | { | ||
| 122 |
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6 | CartesianAxis3::cross(min.linear(), mout_.linear()); |
| 123 |
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6 | CartesianAxis3::cross(min.angular(), mout_.angular()); |
| 124 | } | ||
| 125 | 12 | } | |
| 126 | |||
| 127 | template<int axis> | ||
| 128 | template<typename Derived1, typename Derived2> | ||
| 129 | inline void | ||
| 130 | 24 | SpatialAxis<axis>::cross(const ForceDense<Derived1> & fin, const ForceDense<Derived2> & fout) | |
| 131 | { | ||
| 132 | 24 | Derived2 & fout_ = PINOCCHIO_EIGEN_CONST_CAST(Derived2, fout); | |
| 133 | |||
| 134 | if ((LINEAR == 0 && axis < 3) || (LINEAR == 3 && axis >= 3)) | ||
| 135 | { | ||
| 136 |
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12 | fout_.linear().setZero(); |
| 137 |
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12 | CartesianAxis3::cross(fin.linear(), fout_.angular()); |
| 138 | } | ||
| 139 | else | ||
| 140 | { | ||
| 141 |
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12 | CartesianAxis3::cross(fin.linear(), fout_.linear()); |
| 142 |
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12 | CartesianAxis3::cross(fin.angular(), fout_.angular()); |
| 143 | } | ||
| 144 | 24 | } | |
| 145 | |||
| 146 | typedef SpatialAxis<0> AxisVX; | ||
| 147 | typedef SpatialAxis<1> AxisVY; | ||
| 148 | typedef SpatialAxis<2> AxisVZ; | ||
| 149 | |||
| 150 | typedef SpatialAxis<3> AxisWX; | ||
| 151 | typedef SpatialAxis<4> AxisWY; | ||
| 152 | typedef SpatialAxis<5> AxisWZ; | ||
| 153 | } // namespace pinocchio | ||
| 154 | |||
| 155 | #endif // __pinocchio_spatial_axis_hpp__ | ||
| 156 |