| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/* |
| 2 |
|
|
* Copyright 2010, |
| 3 |
|
|
* François Bleibel, |
| 4 |
|
|
* Olivier Stasse, |
| 5 |
|
|
* |
| 6 |
|
|
* CNRS/AIST |
| 7 |
|
|
* |
| 8 |
|
|
*/ |
| 9 |
|
|
|
| 10 |
|
|
/* --------------------------------------------------------------------- */ |
| 11 |
|
|
/* --- INCLUDE --------------------------------------------------------- */ |
| 12 |
|
|
/* --------------------------------------------------------------------- */ |
| 13 |
|
|
|
| 14 |
|
|
/* --- SOT --- */ |
| 15 |
|
|
#include <sot/core/debug.hh> |
| 16 |
|
|
#include <sot/core/exception-feature.hh> |
| 17 |
|
|
#include <sot/core/feature-line-distance.hh> |
| 18 |
|
|
#include <sot/core/matrix-geometry.hh> |
| 19 |
|
|
|
| 20 |
|
|
using namespace std; |
| 21 |
|
|
|
| 22 |
|
|
using namespace dynamicgraph::sot; |
| 23 |
|
|
using namespace dynamicgraph; |
| 24 |
|
|
|
| 25 |
|
|
#include <sot/core/factory.hh> |
| 26 |
|
✗ |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(FeatureLineDistance, "FeatureLineDistance"); |
| 27 |
|
|
|
| 28 |
|
|
/* --------------------------------------------------------------------- */ |
| 29 |
|
|
/* --- CLASS ----------------------------------------------------------- */ |
| 30 |
|
|
/* --------------------------------------------------------------------- */ |
| 31 |
|
|
|
| 32 |
|
✗ |
FeatureLineDistance::FeatureLineDistance(const string &pointName) |
| 33 |
|
|
: FeatureAbstract(pointName), |
| 34 |
|
✗ |
positionSIN(NULL, "sotFeatureLineDistance(" + name + |
| 35 |
|
|
")::input(matrixHomo)::position"), |
| 36 |
|
✗ |
articularJacobianSIN( |
| 37 |
|
✗ |
NULL, "sotFeatureLineDistance(" + name + ")::input(matrix)::Jq"), |
| 38 |
|
✗ |
positionRefSIN(NULL, "sotFeatureLineDistance(" + name + |
| 39 |
|
|
")::input(vector)::positionRef"), |
| 40 |
|
✗ |
vectorSIN(NULL, |
| 41 |
|
✗ |
"sotFeatureVector3(" + name + ")::input(vector3)::vector"), |
| 42 |
|
✗ |
lineSOUT(boost::bind(&FeatureLineDistance::computeLineCoordinates, this, |
| 43 |
|
|
_1, _2), |
| 44 |
|
✗ |
positionSIN << positionRefSIN, |
| 45 |
|
✗ |
"sotFeatureAbstract(" + name + ")::output(vector)::line") { |
| 46 |
|
✗ |
jacobianSOUT.addDependency(positionSIN); |
| 47 |
|
✗ |
jacobianSOUT.addDependency(articularJacobianSIN); |
| 48 |
|
|
|
| 49 |
|
✗ |
errorSOUT.addDependency(positionSIN); |
| 50 |
|
|
|
| 51 |
|
✗ |
signalRegistration(positionSIN << articularJacobianSIN << positionRefSIN |
| 52 |
|
✗ |
<< lineSOUT << vectorSIN); |
| 53 |
|
|
} |
| 54 |
|
|
|
| 55 |
|
|
/* --------------------------------------------------------------------- */ |
| 56 |
|
|
/* --------------------------------------------------------------------- */ |
| 57 |
|
|
/* --------------------------------------------------------------------- */ |
| 58 |
|
|
|
| 59 |
|
✗ |
unsigned int &FeatureLineDistance::getDimension(unsigned int &dim, |
| 60 |
|
|
int /*time*/) { |
| 61 |
|
|
sotDEBUG(25) << "# In {" << endl; |
| 62 |
|
|
|
| 63 |
|
✗ |
return dim = 1; |
| 64 |
|
|
} |
| 65 |
|
|
|
| 66 |
|
|
/* --------------------------------------------------------------------- */ |
| 67 |
|
✗ |
Vector &FeatureLineDistance::computeLineCoordinates(Vector &cood, int time) { |
| 68 |
|
|
sotDEBUGIN(15); |
| 69 |
|
|
|
| 70 |
|
✗ |
cood.resize(6); |
| 71 |
|
|
|
| 72 |
|
|
/* Line coordinates */ |
| 73 |
|
✗ |
const MatrixHomogeneous &pos = positionSIN(time); |
| 74 |
|
✗ |
const Vector &vect = vectorSIN(time); |
| 75 |
|
✗ |
MatrixRotation R; |
| 76 |
|
✗ |
R = pos.linear(); |
| 77 |
|
✗ |
Vector v(3); |
| 78 |
|
✗ |
v = R * vect; |
| 79 |
|
|
|
| 80 |
|
✗ |
cood(0) = pos(0, 3); |
| 81 |
|
✗ |
cood(1) = pos(1, 3); |
| 82 |
|
✗ |
cood(2) = pos(2, 3); |
| 83 |
|
✗ |
cood(3) = v(0); |
| 84 |
|
✗ |
cood(4) = v(1); |
| 85 |
|
✗ |
cood(5) = v(2); |
| 86 |
|
|
|
| 87 |
|
|
sotDEBUGOUT(15); |
| 88 |
|
✗ |
return cood; |
| 89 |
|
|
} |
| 90 |
|
|
|
| 91 |
|
|
/* --------------------------------------------------------------------- */ |
| 92 |
|
|
/** Compute the interaction matrix from a subset of |
| 93 |
|
|
* the possible features. |
| 94 |
|
|
*/ |
| 95 |
|
✗ |
Matrix &FeatureLineDistance::computeJacobian(Matrix &J, int time) { |
| 96 |
|
|
sotDEBUG(15) << "# In {" << endl; |
| 97 |
|
|
|
| 98 |
|
|
/* --- Compute the jacobian of the line coordinates --- */ |
| 99 |
|
✗ |
Matrix Jline; |
| 100 |
|
|
{ |
| 101 |
|
✗ |
const Matrix &Jq = articularJacobianSIN(time); |
| 102 |
|
|
|
| 103 |
|
✗ |
const Vector &vect = vectorSIN(time); |
| 104 |
|
✗ |
const MatrixHomogeneous &M = positionSIN(time); |
| 105 |
|
✗ |
MatrixRotation R; |
| 106 |
|
✗ |
R = M.linear(); // wRh |
| 107 |
|
|
|
| 108 |
|
✗ |
Matrix Skew(3, 3); |
| 109 |
|
✗ |
Skew(0, 0) = 0; |
| 110 |
|
✗ |
Skew(0, 1) = -vect(2); |
| 111 |
|
✗ |
Skew(0, 2) = vect(1); |
| 112 |
|
✗ |
Skew(1, 0) = vect(2); |
| 113 |
|
✗ |
Skew(1, 1) = 0; |
| 114 |
|
✗ |
Skew(1, 2) = -vect(0); |
| 115 |
|
✗ |
Skew(2, 0) = -vect(1); |
| 116 |
|
✗ |
Skew(2, 1) = vect(0); |
| 117 |
|
✗ |
Skew(2, 2) = 0; |
| 118 |
|
|
|
| 119 |
|
✗ |
Matrix RSk(3, 3); |
| 120 |
|
✗ |
RSk = R * Skew; |
| 121 |
|
|
|
| 122 |
|
✗ |
Jline.resize(6, Jq.cols()); |
| 123 |
|
✗ |
for (unsigned int i = 0; i < 3; ++i) |
| 124 |
|
✗ |
for (int j = 0; j < Jq.cols(); ++j) { |
| 125 |
|
✗ |
Jline(i, j) = 0; |
| 126 |
|
✗ |
Jline(i + 3, j) = 0; |
| 127 |
|
✗ |
for (unsigned int k = 0; k < 3; ++k) { |
| 128 |
|
✗ |
Jline(i, j) += R(i, k) * Jq(k, j); |
| 129 |
|
✗ |
Jline(i + 3, j) += -RSk(i, k) * Jq(k + 3, j); |
| 130 |
|
|
} |
| 131 |
|
|
} |
| 132 |
|
|
} |
| 133 |
|
|
|
| 134 |
|
|
/* --- Compute the jacobian wrt the line coordinates --- */ |
| 135 |
|
✗ |
const Vector &line = lineSOUT(time); |
| 136 |
|
✗ |
const double &x0 = line(0); |
| 137 |
|
✗ |
const double &y0 = line(1); |
| 138 |
|
✗ |
const double &z0 = line(2); |
| 139 |
|
✗ |
const double &a0 = line(3); |
| 140 |
|
✗ |
const double &b0 = line(4); |
| 141 |
|
✗ |
const double &c0 = line(5); |
| 142 |
|
|
|
| 143 |
|
✗ |
const Vector &posRef = positionRefSIN(time); |
| 144 |
|
✗ |
const double &x1 = posRef(0); |
| 145 |
|
✗ |
const double &y1 = posRef(1); |
| 146 |
|
✗ |
const double &z1 = posRef(2); |
| 147 |
|
✗ |
const double &a1 = posRef(3); |
| 148 |
|
✗ |
const double &b1 = posRef(4); |
| 149 |
|
✗ |
const double &c1 = posRef(5); |
| 150 |
|
|
|
| 151 |
|
|
/* Differential */ |
| 152 |
|
✗ |
const double a1_3 = a1 * a1 * a1; |
| 153 |
|
✗ |
const double b1_3 = b1 * b1 * b1; |
| 154 |
|
✗ |
const double c1_3 = c1 * c1 * c1; |
| 155 |
|
|
|
| 156 |
|
✗ |
double K = c0 * c0 * a1 * a1 - 2 * c0 * a1 * a0 * c1 - 2 * c0 * b1 * b0 * c1 + |
| 157 |
|
✗ |
c0 * c0 * b1 * b1 - 2 * b0 * a1 * a0 * b1 + b0 * b0 * a1 * a1 + |
| 158 |
|
✗ |
b0 * b0 * c1 * c1 + a0 * a0 * b1 * b1 + a0 * a0 * c1 * c1; |
| 159 |
|
|
|
| 160 |
|
✗ |
const double diffx0 = -b0 * c1 + c0 * b1; |
| 161 |
|
✗ |
const double diffy0 = a0 * c1 - c0 * a1; |
| 162 |
|
✗ |
const double diffz0 = -a0 * b1 + b0 * a1; |
| 163 |
|
|
|
| 164 |
|
✗ |
const double diffa0 = |
| 165 |
|
✗ |
2 * b0 * c1 * x0 * a0 * b1 * b1 + 2 * c0 * b1 * b1 * x0 * b0 * a1 + |
| 166 |
|
✗ |
2 * c0 * c0 * b1 * x0 * c1 * a1 + 2 * c1 * c1 * y0 * c0 * a1 * a0 - |
| 167 |
|
✗ |
2 * b0 * c1 * c1 * x0 * c0 * a1 - 2 * b0 * b0 * c1 * x0 * b1 * a1 - |
| 168 |
|
✗ |
2 * c1 * c1 * y0 * c0 * b1 * b0 + 2 * b0 * b0 * c1 * x1 * b1 * a1 + |
| 169 |
|
✗ |
2 * b0 * c1 * c1 * x1 * c0 * a1 - 2 * b0 * c1 * x1 * a0 * b1 * b1 - |
| 170 |
|
✗ |
c1 * y0 * c0 * c0 * a1 * a1 + c1 * y0 * c0 * c0 * b1 * b1 + |
| 171 |
|
✗ |
c1 * y0 * b0 * b0 * a1 * a1 - c1 * y0 * a0 * a0 * b1 * b1 + |
| 172 |
|
✗ |
c1 * y1 * c0 * c0 * a1 * a1 - c1 * y1 * c0 * c0 * b1 * b1 - |
| 173 |
|
✗ |
c1 * y1 * b0 * b0 * a1 * a1 + c1 * y1 * a0 * a0 * b1 * b1 - |
| 174 |
|
✗ |
b1 * z0 * c0 * c0 * a1 * a1 + b1 * z0 * b0 * b0 * a1 * a1 - |
| 175 |
|
✗ |
b1 * z0 * b0 * b0 * c1 * c1 + b1 * z0 * a0 * a0 * c1 * c1 + |
| 176 |
|
✗ |
b1 * z1 * c0 * c0 * a1 * a1 - b1 * z1 * b0 * b0 * a1 * a1 + |
| 177 |
|
✗ |
b1 * z1 * b0 * b0 * c1 * c1 - b1 * z1 * a0 * a0 * c1 * c1 + |
| 178 |
|
✗ |
2 * b0 * c1_3 * x0 * a0 - 2 * b0 * c1_3 * x1 * a0 - |
| 179 |
|
✗ |
2 * c0 * b1_3 * x0 * a0 + 2 * c0 * b1_3 * x1 * a0 + c1_3 * y0 * b0 * b0 - |
| 180 |
|
✗ |
c1_3 * y0 * a0 * a0 - c1_3 * y1 * b0 * b0 + c1_3 * y1 * a0 * a0 - |
| 181 |
|
✗ |
b1_3 * z0 * c0 * c0 + b1_3 * z0 * a0 * a0 + b1_3 * z1 * c0 * c0 - |
| 182 |
|
✗ |
b1_3 * z1 * a0 * a0 - 2 * c1 * c1 * y1 * c0 * a1 * a0 + |
| 183 |
|
✗ |
2 * c1 * c1 * y1 * c0 * b1 * b0 + 2 * b1 * b1 * z0 * c0 * b0 * c1 - |
| 184 |
|
✗ |
2 * b1 * b1 * z0 * b0 * a1 * a0 - 2 * b1 * b1 * z1 * c0 * b0 * c1 + |
| 185 |
|
✗ |
2 * b1 * b1 * z1 * b0 * a1 * a0 - 2 * c0 * b1 * x0 * a0 * c1 * c1 - |
| 186 |
|
✗ |
2 * c0 * b1 * b1 * x1 * b0 * a1 - 2 * c0 * c0 * b1 * x1 * c1 * a1 + |
| 187 |
|
✗ |
2 * c0 * b1 * x1 * a0 * c1 * c1 + 2 * c0 * a1 * y0 * a0 * b1 * b1 - |
| 188 |
|
✗ |
2 * c0 * a1 * a1 * y0 * b1 * b0 - 2 * c0 * a1 * y1 * a0 * b1 * b1 + |
| 189 |
|
✗ |
2 * c0 * a1 * a1 * y1 * b1 * b0 + 2 * b0 * a1 * a1 * z0 * c1 * c0 - |
| 190 |
|
✗ |
2 * b0 * a1 * z0 * a0 * c1 * c1 - 2 * b0 * a1 * a1 * z1 * c1 * c0 + |
| 191 |
|
✗ |
2 * b0 * a1 * z1 * a0 * c1 * c1; |
| 192 |
|
✗ |
const double diffb0 = |
| 193 |
|
✗ |
-2 * c1 * c1 * x0 * c0 * b1 * b0 + 2 * c1 * c1 * x0 * c0 * a1 * a0 - |
| 194 |
|
✗ |
c1 * x0 * c0 * c0 * a1 * a1 + c1 * x0 * c0 * c0 * b1 * b1 + |
| 195 |
|
✗ |
c1 * x0 * b0 * b0 * a1 * a1 - c1 * x0 * a0 * a0 * b1 * b1 + |
| 196 |
|
✗ |
c1 * x1 * c0 * c0 * a1 * a1 - c1 * x1 * c0 * c0 * b1 * b1 - |
| 197 |
|
✗ |
c1 * x1 * b0 * b0 * a1 * a1 + c1 * x1 * a0 * a0 * b1 * b1 + |
| 198 |
|
✗ |
a1 * z0 * c0 * c0 * b1 * b1 - a1 * z0 * b0 * b0 * c1 * c1 - |
| 199 |
|
✗ |
a1 * z0 * a0 * a0 * b1 * b1 + a1 * z0 * a0 * a0 * c1 * c1 - |
| 200 |
|
✗ |
a1 * z1 * c0 * c0 * b1 * b1 + a1 * z1 * b0 * b0 * c1 * c1 + |
| 201 |
|
✗ |
a1 * z1 * a0 * a0 * b1 * b1 - a1 * z1 * a0 * a0 * c1 * c1 - |
| 202 |
|
✗ |
2 * a0 * c1_3 * y0 * b0 + 2 * a0 * c1_3 * y1 * b0 + c1_3 * x0 * b0 * b0 - |
| 203 |
|
✗ |
c1_3 * x0 * a0 * a0 - c1_3 * x1 * b0 * b0 + c1_3 * x1 * a0 * a0 + |
| 204 |
|
✗ |
a1_3 * z0 * c0 * c0 - 2 * c1 * c1 * x1 * c0 * a1 * a0 + |
| 205 |
|
✗ |
2 * c1 * c1 * x1 * c0 * b1 * b0 - 2 * a1 * a1 * z0 * c0 * a0 * c1 + |
| 206 |
|
✗ |
2 * a1 * a1 * z0 * b0 * a0 * b1 - a1_3 * z0 * b0 * b0 - |
| 207 |
|
✗ |
a1_3 * z1 * c0 * c0 + a1_3 * z1 * b0 * b0 + |
| 208 |
|
✗ |
2 * a1 * a1 * z1 * c0 * a0 * c1 - 2 * a1 * a1 * z1 * b0 * a0 * b1 + |
| 209 |
|
✗ |
2 * c0 * b1 * b1 * x0 * a1 * a0 - 2 * c0 * b1 * x0 * b0 * a1 * a1 - |
| 210 |
|
✗ |
2 * c0 * b1 * b1 * x1 * a1 * a0 + 2 * c0 * b1 * x1 * b0 * a1 * a1 + |
| 211 |
|
✗ |
2 * a0 * a0 * c1 * y0 * a1 * b1 - 2 * a0 * c1 * y0 * b0 * a1 * a1 + |
| 212 |
|
✗ |
2 * a0 * c1 * c1 * y0 * c0 * b1 - 2 * a0 * a0 * c1 * y1 * a1 * b1 + |
| 213 |
|
✗ |
2 * a0 * c1 * y1 * b0 * a1 * a1 - 2 * a0 * c1 * c1 * y1 * c0 * b1 - |
| 214 |
|
✗ |
2 * c0 * a1 * a1 * y0 * a0 * b1 + 2 * c0 * a1_3 * y0 * b0 - |
| 215 |
|
✗ |
2 * c0 * a1_3 * y1 * b0 + 2 * c0 * a1 * y0 * b0 * c1 * c1 - |
| 216 |
|
✗ |
2 * c0 * c0 * a1 * y0 * c1 * b1 + 2 * c0 * a1 * a1 * y1 * a0 * b1 - |
| 217 |
|
✗ |
2 * c0 * a1 * y1 * b0 * c1 * c1 + 2 * c0 * c0 * a1 * y1 * c1 * b1 + |
| 218 |
|
✗ |
2 * a0 * b1 * z0 * b0 * c1 * c1 - 2 * a0 * b1 * b1 * z0 * c1 * c0 - |
| 219 |
|
✗ |
2 * a0 * b1 * z1 * b0 * c1 * c1 + 2 * a0 * b1 * b1 * z1 * c1 * c0; |
| 220 |
|
|
|
| 221 |
|
✗ |
Matrix diffh(1, 6); |
| 222 |
|
✗ |
diffh(0, 0) = diffx0 / K; |
| 223 |
|
✗ |
diffh(0, 1) = diffy0 / K; |
| 224 |
|
✗ |
diffh(0, 2) = diffz0 / K; |
| 225 |
|
✗ |
K *= K; |
| 226 |
|
✗ |
diffh(0, 3) = diffa0 / K; |
| 227 |
|
✗ |
diffh(0, 4) = diffb0 / K; |
| 228 |
|
✗ |
diffh(0, 5) = 0; |
| 229 |
|
|
|
| 230 |
|
|
/* --- Multiply Jline=dline/dq with diffh=de/dline --- */ |
| 231 |
|
✗ |
J.resize(1, J.cols()); |
| 232 |
|
✗ |
J = diffh * Jline; |
| 233 |
|
|
// J=Jline; |
| 234 |
|
|
|
| 235 |
|
|
sotDEBUG(15) << "# Out }" << endl; |
| 236 |
|
✗ |
return J; |
| 237 |
|
|
} |
| 238 |
|
|
|
| 239 |
|
|
/** Compute the error between two visual features from a subset |
| 240 |
|
|
*a the possible features. |
| 241 |
|
|
*/ |
| 242 |
|
✗ |
Vector &FeatureLineDistance::computeError(Vector &error, int time) { |
| 243 |
|
|
sotDEBUGIN(15); |
| 244 |
|
|
|
| 245 |
|
|
/* Line coordinates */ |
| 246 |
|
✗ |
const Vector &line = lineSOUT(time); |
| 247 |
|
✗ |
const double &x0 = line(0); |
| 248 |
|
✗ |
const double &y0 = line(1); |
| 249 |
|
✗ |
const double &z0 = line(2); |
| 250 |
|
✗ |
const double &a0 = line(3); |
| 251 |
|
✗ |
const double &b0 = line(4); |
| 252 |
|
✗ |
const double &c0 = line(5); |
| 253 |
|
|
|
| 254 |
|
✗ |
const Vector &posRef = positionRefSIN(time); |
| 255 |
|
✗ |
const double &x1 = posRef(0); |
| 256 |
|
✗ |
const double &y1 = posRef(1); |
| 257 |
|
✗ |
const double &z1 = posRef(2); |
| 258 |
|
✗ |
const double &a1 = posRef(3); |
| 259 |
|
✗ |
const double &b1 = posRef(4); |
| 260 |
|
✗ |
const double &c1 = posRef(5); |
| 261 |
|
|
|
| 262 |
|
✗ |
error.resize(1); |
| 263 |
|
✗ |
double K = c0 * c0 * a1 * a1 - 2 * c0 * a1 * a0 * c1 - 2 * c0 * b1 * b0 * c1 + |
| 264 |
|
✗ |
c0 * c0 * b1 * b1 - 2 * b0 * a1 * a0 * b1 + b0 * b0 * a1 * a1 + |
| 265 |
|
✗ |
b0 * b0 * c1 * c1 + a0 * a0 * b1 * b1 + a0 * a0 * c1 * c1; |
| 266 |
|
✗ |
error(0) = (-b0 * c1 * x0 + b0 * c1 * x1 + c0 * b1 * x0 - c0 * b1 * x1 + |
| 267 |
|
✗ |
a0 * c1 * y0 - a0 * c1 * y1 - c0 * a1 * y0 + c0 * a1 * y1 - |
| 268 |
|
✗ |
a0 * b1 * z0 + a0 * b1 * z1 + b0 * a1 * z0 - b0 * a1 * z1) / |
| 269 |
|
|
K; |
| 270 |
|
|
|
| 271 |
|
|
/* --- DEBUG --- */ |
| 272 |
|
|
// error.resize(6); |
| 273 |
|
|
// error=line-posRef; |
| 274 |
|
|
|
| 275 |
|
|
sotDEBUGOUT(15); |
| 276 |
|
✗ |
return error; |
| 277 |
|
|
} |
| 278 |
|
|
|
| 279 |
|
✗ |
void FeatureLineDistance::display(std::ostream &os) const { |
| 280 |
|
✗ |
os << "LineDistance <" << name << ">"; |
| 281 |
|
|
} |
| 282 |
|
|
|