5 #ifndef __pinocchio_multibody_liegroup_liegroup_operation_base_hpp__
6 #define __pinocchio_multibody_liegroup_liegroup_operation_base_hpp__
8 #include "pinocchio/multibody/liegroup/fwd.hpp"
14 constexpr
int SELF = 0;
16 #define PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived, TYPENAME) \
17 typedef LieGroupBase<Derived> Base; \
18 typedef TYPENAME Base::Index Index; \
19 typedef TYPENAME traits<Derived>::Scalar Scalar; \
22 Options = traits<Derived>::Options, \
26 typedef TYPENAME Base::ConfigVector_t ConfigVector_t; \
27 typedef TYPENAME Base::TangentVector_t TangentVector_t; \
28 typedef TYPENAME Base::JacobianMatrix_t JacobianMatrix_t
30 #define PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE(Derived) \
31 PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived, PINOCCHIO_MACRO_EMPTY_ARG)
33 #define PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE(Derived) \
34 PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived, typename)
36 template<
typename Derived>
39 typedef Derived LieGroupDerived;
49 typedef Eigen::Matrix<Scalar, NQ, 1, Options> ConfigVector_t;
50 typedef Eigen::Matrix<Scalar, NV, 1, Options> TangentVector_t;
51 typedef Eigen::Matrix<Scalar, NV, NV, Options> JacobianMatrix_t;
65 template<
class ConfigIn_t,
class Tangent_t,
class ConfigOut_t>
67 const Eigen::MatrixBase<ConfigIn_t> & q,
68 const Eigen::MatrixBase<Tangent_t> & v,
69 const Eigen::MatrixBase<ConfigOut_t> & qout)
const;
85 template<
class Config_t,
class Jacobian_t>
87 const Eigen::MatrixBase<Config_t> & q,
const Eigen::MatrixBase<Jacobian_t> & J)
const;
104 template<ArgumentPosition arg,
class Config_t,
class Tangent_t,
class JacobianOut_t>
106 const Eigen::MatrixBase<Config_t> & q,
107 const Eigen::MatrixBase<Tangent_t> & v,
108 const Eigen::MatrixBase<JacobianOut_t> & J,
109 AssignmentOperatorType op = SETTO)
const
111 PINOCCHIO_STATIC_ASSERT(arg == ARG0 || arg == ARG1, arg_SHOULD_BE_ARG0_OR_ARG1);
113 q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t, J), arg, op);
131 template<
class Config_t,
class Tangent_t,
class JacobianOut_t>
133 const Eigen::MatrixBase<Config_t> & q,
134 const Eigen::MatrixBase<Tangent_t> & v,
135 const Eigen::MatrixBase<JacobianOut_t> & J,
137 const AssignmentOperatorType op = SETTO)
const;
152 template<
class Config_t,
class Tangent_t,
class JacobianOut_t>
154 const Eigen::MatrixBase<Config_t> & q,
155 const Eigen::MatrixBase<Tangent_t> & v,
156 const Eigen::MatrixBase<JacobianOut_t> & J,
157 const AssignmentOperatorType op = SETTO)
const;
159 template<
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
161 const Eigen::MatrixBase<Config_t> & q,
162 const Eigen::MatrixBase<Tangent_t> & v,
163 const Eigen::MatrixBase<JacobianIn_t> & Jin,
165 const Eigen::MatrixBase<JacobianOut_t> & Jout,
166 const AssignmentOperatorType op = SETTO)
const;
168 template<
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
170 const Eigen::MatrixBase<Config_t> & q,
171 const Eigen::MatrixBase<Tangent_t> & v,
173 const Eigen::MatrixBase<JacobianIn_t> & Jin,
174 const Eigen::MatrixBase<JacobianOut_t> & Jout,
175 const AssignmentOperatorType op = SETTO)
const;
190 template<
class Config_t,
class Tangent_t,
class JacobianOut_t>
192 const Eigen::MatrixBase<Config_t> & q,
193 const Eigen::MatrixBase<Tangent_t> & v,
194 const Eigen::MatrixBase<JacobianOut_t> & J,
195 const AssignmentOperatorType op = SETTO)
const;
197 template<
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
199 const Eigen::MatrixBase<Config_t> & q,
200 const Eigen::MatrixBase<Tangent_t> & v,
202 const Eigen::MatrixBase<JacobianIn_t> & Jin,
203 const Eigen::MatrixBase<JacobianOut_t> & Jout,
204 const AssignmentOperatorType op = SETTO)
const;
206 template<
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
208 const Eigen::MatrixBase<Config_t> & q,
209 const Eigen::MatrixBase<Tangent_t> & v,
210 const Eigen::MatrixBase<JacobianIn_t> & Jin,
212 const Eigen::MatrixBase<JacobianOut_t> & Jout,
213 const AssignmentOperatorType op = SETTO)
const;
240 template<
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
242 const Eigen::MatrixBase<Config_t> & q,
243 const Eigen::MatrixBase<Tangent_t> & v,
244 const Eigen::MatrixBase<JacobianIn_t> & Jin,
245 const Eigen::MatrixBase<JacobianOut_t> & Jout,
270 template<
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
272 const Eigen::MatrixBase<Config_t> & q,
273 const Eigen::MatrixBase<Tangent_t> & v,
274 const Eigen::MatrixBase<JacobianIn_t> & Jin,
275 const Eigen::MatrixBase<JacobianOut_t> & Jout)
const;
298 template<
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
300 const Eigen::MatrixBase<Config_t> & q,
301 const Eigen::MatrixBase<Tangent_t> & v,
302 const Eigen::MatrixBase<JacobianIn_t> & Jin,
303 const Eigen::MatrixBase<JacobianOut_t> & Jout)
const;
327 template<
class Config_t,
class Tangent_t,
class Jacobian_t>
329 const Eigen::MatrixBase<Config_t> & q,
330 const Eigen::MatrixBase<Tangent_t> & v,
331 const Eigen::MatrixBase<Jacobian_t> & J,
355 template<
class Config_t,
class Tangent_t,
class Jacobian_t>
357 const Eigen::MatrixBase<Config_t> & q,
358 const Eigen::MatrixBase<Tangent_t> & v,
359 const Eigen::MatrixBase<Jacobian_t> & J)
const;
381 template<
class Config_t,
class Tangent_t,
class Jacobian_t>
383 const Eigen::MatrixBase<Config_t> & q,
384 const Eigen::MatrixBase<Tangent_t> & v,
385 const Eigen::MatrixBase<Jacobian_t> & J)
const;
396 template<
class ConfigL_t,
class ConfigR_t,
class ConfigOut_t>
398 const Eigen::MatrixBase<ConfigL_t> & q0,
399 const Eigen::MatrixBase<ConfigR_t> & q1,
401 const Eigen::MatrixBase<ConfigOut_t> & qout)
const;
413 template<
class Config_t>
414 void normalize(
const Eigen::MatrixBase<Config_t> & qout)
const;
424 template<
class Config_t>
426 const Eigen::MatrixBase<Config_t> & qin,
427 const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
const;
437 template<
class Config_t>
438 void random(
const Eigen::MatrixBase<Config_t> & qout)
const;
449 template<
class ConfigL_t,
class ConfigR_t,
class ConfigOut_t>
451 const Eigen::MatrixBase<ConfigL_t> & lower_pos_limit,
452 const Eigen::MatrixBase<ConfigR_t> & upper_pos_limit,
453 const Eigen::MatrixBase<ConfigOut_t> & qout)
const;
470 template<
class ConfigL_t,
class ConfigR_t,
class Tangent_t>
472 const Eigen::MatrixBase<ConfigL_t> & q0,
473 const Eigen::MatrixBase<ConfigR_t> & q1,
474 const Eigen::MatrixBase<Tangent_t> & v)
const;
497 template<ArgumentPosition arg,
class ConfigL_t,
class ConfigR_t,
class JacobianOut_t>
499 const Eigen::MatrixBase<ConfigL_t> & q0,
500 const Eigen::MatrixBase<ConfigR_t> & q1,
501 const Eigen::MatrixBase<JacobianOut_t> & J)
const;
514 template<
class ConfigL_t,
class ConfigR_t,
class JacobianOut_t>
516 const Eigen::MatrixBase<ConfigL_t> & q0,
517 const Eigen::MatrixBase<ConfigR_t> & q1,
518 const Eigen::MatrixBase<JacobianOut_t> & J,
528 const Eigen::MatrixBase<ConfigL_t> & q0,
529 const Eigen::MatrixBase<ConfigR_t> & q1,
530 const Eigen::MatrixBase<JacobianIn_t> & Jin,
532 const Eigen::MatrixBase<JacobianOut_t> & Jout,
533 const AssignmentOperatorType op = SETTO)
const;
542 const Eigen::MatrixBase<ConfigL_t> & q0,
543 const Eigen::MatrixBase<ConfigR_t> & q1,
545 const Eigen::MatrixBase<JacobianIn_t> & Jin,
546 const Eigen::MatrixBase<JacobianOut_t> & Jout,
547 const AssignmentOperatorType op = SETTO)
const;
557 template<
class ConfigL_t,
class ConfigR_t>
559 const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1)
const;
569 template<
class ConfigL_t,
class ConfigR_t>
571 const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1)
const;
582 template<
class ConfigL_t,
class ConfigR_t>
584 const Eigen::MatrixBase<ConfigL_t> & q0,
585 const Eigen::MatrixBase<ConfigR_t> & q1,
586 const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
const;
590 return derived().isEqual_impl(other.derived());
595 return derived().isDifferent_impl(other.derived());
602 template<
class Config_t,
class Tangent_t>
604 integrate(
const Eigen::MatrixBase<Config_t> & q,
const Eigen::MatrixBase<Tangent_t> & v)
const;
606 template<
class ConfigL_t,
class ConfigR_t>
608 const Eigen::MatrixBase<ConfigL_t> & q0,
609 const Eigen::MatrixBase<ConfigR_t> & q1,
610 const Scalar & u)
const;
612 ConfigVector_t random()
const;
614 template<
class ConfigL_t,
class ConfigR_t>
616 const Eigen::MatrixBase<ConfigL_t> & lower_pos_limit,
617 const Eigen::MatrixBase<ConfigR_t> & upper_pos_limit)
const;
619 template<
class ConfigL_t,
class ConfigR_t>
621 const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1)
const;
627 template<
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
628 void dIntegrate_product_impl(
631 const JacobianIn_t & Jin,
632 JacobianOut_t & Jout,
633 bool dIntegrateOnTheLeft,
635 const AssignmentOperatorType op)
const;
643 void dDifference_product_impl(
644 const ConfigL_t & q0,
645 const ConfigR_t & q1,
646 const JacobianIn_t & Jin,
647 JacobianOut_t & Jout,
648 bool dDifferenceOnTheLeft,
649 const AssignmentOperatorType op)
const;
651 template<
class ConfigL_t,
class ConfigR_t,
class ConfigOut_t>
652 void interpolate_impl(
653 const Eigen::MatrixBase<ConfigL_t> & q0,
654 const Eigen::MatrixBase<ConfigR_t> & q1,
656 const Eigen::MatrixBase<ConfigOut_t> & qout)
const;
658 template<
class Config_t>
659 void normalize_impl(
const Eigen::MatrixBase<Config_t> & qout)
const;
661 template<
class Config_t>
662 bool isNormalized_impl(
663 const Eigen::MatrixBase<Config_t> & qin,
664 const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
const;
666 template<
class ConfigL_t,
class ConfigR_t>
667 Scalar squaredDistance_impl(
668 const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1)
const;
670 template<
class ConfigL_t,
class ConfigR_t>
671 bool isSameConfiguration_impl(
672 const Eigen::MatrixBase<ConfigL_t> & q0,
673 const Eigen::MatrixBase<ConfigR_t> & q1,
674 const Scalar & prec)
const;
684 return !derived().isEqual_impl(other.derived());
702 return static_cast<Derived &
>(*this);
705 const Derived & derived()
const
707 return static_cast<const Derived &
>(*this);
741 #include "pinocchio/multibody/liegroup/liegroup-base.hxx"
Main pinocchio namespace.
ArgumentPosition
Argument position. Used as template parameter to refer to an argument.
void random(const Eigen::MatrixBase< Config_t > &qout) const
Generate a random joint configuration, normalizing quaternions when necessary.
void interpolate(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const
Interpolation between two joint's configurations.
std::string name() const
Get name of instance.
void integrate(const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout) const
Integrate a joint's configuration with a tangent vector during one unit time duration.
Index nv() const
Get dimension of Lie Group tangent space.
void dIntegrateTransport(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const ArgumentPosition arg) const
Transport a matrix from the terminal to the initial tangent space of the integrate operation,...
void dIntegrateTransport_dq(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J) const
Transport in place a matrix from the terminal to the initial tangent space of the integrate operation...
bool isEqual_impl(const LieGroupBase &) const
Default equality check. By default, two LieGroupBase of same type are considered equal.
void dIntegrateTransport_dv(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
Transport a matrix from the terminal to the initial tangent space of the integrate operation,...
void normalize(const Eigen::MatrixBase< Config_t > &qout) const
Normalize the joint configuration given as input. For instance, the quaternion must be unitary.
LieGroupBase(const LieGroupBase &)
void dIntegrateTransport_dq(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
Transport a matrix from the terminal to the initial tangent space of the integrate operation,...
Scalar distance(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
Distance between two configurations of the joint.
void dIntegrate_dq(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
Computes the Jacobian of a small variation of the configuration vector into tangent space at identity...
Scalar squaredDistance(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
Squared distance between two joint configurations.
void dIntegrateTransport(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J, const ArgumentPosition arg) const
Transport in place a matrix from the terminal to the initial tangent space of the integrate operation...
LieGroupBase & operator=(const LieGroupBase &)
void dDifference(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J) const
Computes the Jacobian of the difference operation with respect to q0 or q1.
void dDifference(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg) const
Computes the Jacobian of the difference operation with respect to q0 or q1.
void dIntegrateTransport_dv(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J) const
Transport in place a matrix from the terminal to the initial tangent space of the integrate operation...
ConfigVector_t neutral() const
Get neutral element as a vector.
void dIntegrate_dv(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
Computes the Jacobian of a small variation of the tangent vector into tangent space at identity.
void dIntegrate(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const
Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tan...
bool isSameConfiguration(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
Check if two configurations are equivalent within the given precision.
void difference(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &v) const
Computes the tangent vector that must be integrated during one unit time to go from q0 to q1.
void randomConfiguration(const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit, const Eigen::MatrixBase< ConfigOut_t > &qout) const
Generate a configuration vector uniformly sampled among provided limits.
void dIntegrate(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, AssignmentOperatorType op=SETTO) const
Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tan...
bool isNormalized(const Eigen::MatrixBase< Config_t > &qin, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
Check whether the input joint configuration is normalized. For instance, the quaternion must be unita...
void integrateCoeffWiseJacobian(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Jacobian_t > &J) const
Computes the Jacobian of the integrate operator around zero.
Common traits structure to fully define base classes for CRTP.