pinocchio  3.5.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
joint-common-operations.hpp
1 //
2 // Copyright (c) 2019 INRIA
3 //
4 
5 #ifndef __pinocchio_multibody_joint_joint_common_operations_hpp__
6 #define __pinocchio_multibody_joint_joint_common_operations_hpp__
7 
8 #include "pinocchio/macros.hpp"
9 #include "pinocchio/math/matrix.hpp"
10 #include "pinocchio/math/fwd.hpp"
11 
12 #include <boost/type_traits.hpp>
13 #include <boost/variant.hpp>
14 
15 namespace pinocchio
16 {
17  namespace internal
18  {
22  template<typename Scalar, bool is_floating_point = pinocchio::is_floating_point<Scalar>::value>
23  struct PerformStYSInversion
24  {
25  template<typename M1, typename M2>
26  static EIGEN_STRONG_INLINE void
27  run(const Eigen::MatrixBase<M1> & StYS, const Eigen::MatrixBase<M2> & Dinv)
28  {
29  M2 & Dinv_ = PINOCCHIO_EIGEN_CONST_CAST(M2, Dinv);
30  Dinv_.setIdentity();
31  StYS.llt().solveInPlace(Dinv_);
32  }
33  };
34 
35  template<typename Scalar>
36  struct PerformStYSInversion<Scalar, false>
37  {
38  template<typename M1, typename M2>
39  static EIGEN_STRONG_INLINE void
40  run(const Eigen::MatrixBase<M1> & StYS, const Eigen::MatrixBase<M2> & Dinv)
41  {
42  M2 & Dinv_ = PINOCCHIO_EIGEN_CONST_CAST(M2, Dinv);
43  inverse(StYS, Dinv_);
44  }
45  };
46  } // namespace internal
47 
53  {
54  template<typename ConfigVectorIn, typename Scalar, typename ConfigVectorOut>
55  static void run(
56  const Eigen::MatrixBase<ConfigVectorIn> & qIn,
57  const Scalar & scaling,
58  const Scalar & offset,
59  const Eigen::MatrixBase<ConfigVectorOut> & qOut)
60  {
61  assert(qIn.size() == qOut.size());
62  PINOCCHIO_EIGEN_CONST_CAST(ConfigVectorOut, qOut).noalias() =
63  scaling * qIn + ConfigVectorOut::Constant(qOut.size(), offset);
64  }
65  };
66 
68  {
69  template<typename ConfigVectorIn, typename Scalar, typename ConfigVectorOut>
70  static void run(
71  const Eigen::MatrixBase<ConfigVectorIn> & qIn,
72  const Scalar & scaling,
73  const Scalar & offset,
74  const Eigen::MatrixBase<ConfigVectorOut> & qOut)
75  {
76  assert(qIn.size() == 2);
77  assert(qOut.size() == 2);
78 
79  const typename ConfigVectorIn::Scalar & ca = qIn(0);
80  const typename ConfigVectorIn::Scalar & sa = qIn(1);
81 
82  const typename ConfigVectorIn::Scalar & theta = math::atan2(sa, ca);
83  const typename ConfigVectorIn::Scalar & theta_transform = scaling * theta + offset;
84 
85  ConfigVectorOut & dest_ = PINOCCHIO_EIGEN_CONST_CAST(ConfigVectorOut, qOut);
86  SINCOS(theta_transform, &dest_.coeffRef(1), &dest_.coeffRef(0));
87  }
88  };
89 
91  {
92  template<typename ConfigVectorIn, typename Scalar, typename ConfigVectorOut>
93  static void run(
94  const Eigen::MatrixBase<ConfigVectorIn> &,
95  const Scalar &,
96  const Scalar &,
97  const Eigen::MatrixBase<ConfigVectorOut> &)
98  {
99  assert(false && "Joint cannot be used with JointMimic.");
100  }
101  };
102 
107  template<typename Joint>
109  {
110  typedef NoAffineTransform Type;
111  };
112 
113 } // namespace pinocchio
114 
115 #endif // ifndef __pinocchio_multibody_joint_joint_common_operations_hpp__
Main pinocchio namespace.
Definition: treeview.dox:11
void SINCOS(const S1 &a, S2 *sa, S3 *ca)
Computes sin/cos values of a given input scalar.
Definition: sincos.hpp:27
Assign the correct configuration vector space affine transformation according to the joint type....
Linear affine transformation of the configuration vector. Valide for most common joints which are evo...