motion-tpl.hpp

//
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
 
#ifndef __pinocchio_motion_tpl_hpp__
#define __pinocchio_motion_tpl_hpp__
 
namespace pinocchio
{
  template<typename _Scalar, int _Options>
  struct traits< MotionTpl<_Scalar, _Options> >
  {
    typedef _Scalar Scalar;
    typedef Eigen::Matrix<Scalar,3,1,_Options> Vector3;
    typedef Eigen::Matrix<Scalar,6,1,_Options> Vector6;
    typedef Eigen::Matrix<Scalar,4,4,_Options> Matrix4;
    typedef Eigen::Matrix<Scalar,6,6,_Options> Matrix6;
    typedef Matrix6 ActionMatrixType;
    typedef Matrix4 HomogeneousMatrixType;
    typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6) ToVectorConstReturnType;
    typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6) ToVectorReturnType;
    typedef typename Vector6::template FixedSegmentReturnType<3>::Type LinearType;
    typedef typename Vector6::template FixedSegmentReturnType<3>::Type AngularType;
    typedef typename Vector6::template ConstFixedSegmentReturnType<3>::Type ConstLinearType;
    typedef typename Vector6::template ConstFixedSegmentReturnType<3>::Type ConstAngularType;
    typedef MotionTpl<Scalar,_Options> MotionPlain;
    typedef const MotionPlain & PlainReturnType;
    enum {
      LINEAR = 0,
      ANGULAR = 3,
      Options = _Options
    };
    
    typedef MotionRef<Vector6> MotionRefType;
  }; // traits MotionTpl
  
  template<typename _Scalar, int _Options>
  class MotionTpl : public MotionDense< MotionTpl< _Scalar, _Options > >
  {
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    typedef MotionDense<MotionTpl> Base;
    MOTION_TYPEDEF_TPL(MotionTpl);
    enum { Options = _Options };
 
    using Base::operator=;
    using Base::linear;
    using Base::angular;
    
    using Base::__plus__;
    using Base::__opposite__;
    using Base::__minus__;
    using Base::__pequ__;
    using Base::__mequ__;
    using Base::__mult__;
 
    // Constructors
    MotionTpl() : m_data() {}
    
    template<typename V1,typename V2>
    MotionTpl(const Eigen::MatrixBase<V1> & v, const Eigen::MatrixBase<V2> & w)
    {
      assert(v.size() == 3);
      assert(w.size() == 3);
      linear() = v; angular() = w;
    }
    
    template<typename V6>
    explicit MotionTpl(const Eigen::MatrixBase<V6> & v)
    : m_data(v)
    {
      EIGEN_STATIC_ASSERT_VECTOR_ONLY(V6);
      assert(v.size() == 6);
    }
    
    template<int O2>
    explicit MotionTpl(const MotionTpl<Scalar,O2> & clone)
    : m_data(clone.toVector())
    {}
    
    // Same explanation as converting constructor from MotionBase
    template <typename M2,
              typename std::enable_if<
                !std::is_convertible<MotionDense<M2>, MotionTpl>::value,
                bool>::type = true>
    explicit MotionTpl(const MotionDense<M2> & clone)
    { linear() = clone.linear(); angular() = clone.angular(); }
    
    // MotionBase implement a conversion function to PlainReturnType.
    // Usually, PlainReturnType is defined as MotionTpl.
    // In this case, this converting constructor is redundant and
    // create a warning with -Wconversion
    template <typename M2,
              typename std::enable_if<
                !std::is_convertible<MotionBase<M2>, MotionTpl>::value,
                bool>::type = true>
    explicit MotionTpl(const MotionBase<M2> & clone)
    { *this = clone; }
    
    // initializers
    static MotionTpl Zero()   { return MotionTpl(Vector6::Zero());   }
    static MotionTpl Random() { return MotionTpl(Vector6::Random()); }
    
    inline PlainReturnType plain() const { return *this; }
    
    ToVectorConstReturnType toVector_impl() const { return m_data; }
    ToVectorReturnType toVector_impl() { return m_data; }
    
    // Getters
    ConstAngularType angular_impl() const { return m_data.template segment<3> (ANGULAR); }
    ConstLinearType linear_impl()  const { return m_data.template segment<3> (LINEAR); }
    AngularType angular_impl() { return m_data.template segment<3> (ANGULAR); }
    LinearType linear_impl()  { return m_data.template segment<3> (LINEAR); }
    
    template<typename V3>
    void angular_impl(const Eigen::MatrixBase<V3> & w)
    {
      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3,3);
      angular_impl()=w;
    }
    template<typename V3>
    void linear_impl(const Eigen::MatrixBase<V3> & v)
    {
      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3,3);
      linear_impl()=v;
    }
    
    // Specific operators for MotionTpl and MotionRef
    template<int O2>
    MotionPlain __plus__(const MotionTpl<Scalar,O2> & v) const
    { return MotionPlain(m_data+v.toVector()); }
    
    template<typename Vector6ArgType>
    MotionPlain __plus__(const MotionRef<Vector6ArgType> & v) const
    { return MotionPlain(m_data+v.toVector()); }
    
    template<int O2>
    MotionPlain __minus__(const MotionTpl<Scalar,O2> & v) const
    { return MotionPlain(m_data-v.toVector()); }
    
    template<typename Vector6ArgType>
    MotionPlain __minus__(const MotionRef<Vector6ArgType> & v) const
    { return MotionPlain(m_data-v.toVector()); }
    
    template<int O2>
    MotionTpl & __pequ__(const MotionTpl<Scalar,O2> & v)
    { m_data += v.toVector(); return *this; }
    
    template<typename Vector6ArgType>
    MotionTpl & __pequ__(const MotionRef<Vector6ArgType> & v)
    { m_data += v.toVector(); return *this; }
    
    template<int O2>
    MotionTpl & __mequ__(const MotionTpl<Scalar,O2> & v)
    { m_data -= v.toVector(); return *this; }
    
    template<typename Vector6ArgType>
    MotionTpl & __mequ__(const MotionRef<Vector6ArgType> & v)
    { m_data -= v.toVector(); return *this; }
    
    template<typename OtherScalar>
    MotionPlain __mult__(const OtherScalar & alpha) const
    { return MotionPlain(alpha*m_data); }
    
    MotionRef<Vector6> ref() { return MotionRef<Vector6>(m_data); }
    
    template<typename NewScalar>
    MotionTpl<NewScalar,Options> cast() const
    {
      typedef MotionTpl<NewScalar,Options> ReturnType;
      ReturnType res(linear().template cast<NewScalar>(),
                     angular().template cast<NewScalar>());
      return res;
    }
 
  protected:
    Vector6 m_data;
    
  }; // class MotionTpl
  
} // namespace pinocchio
 
#endif // ifndef __pinocchio_motion_tpl_hpp__