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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --- SOT --- */ |
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//#define VP_DEBUG |
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//#define VP_DEBUG_MODE 45 |
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#include <sot/core/debug.hh> |
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#include <sot/core/exception-feature.hh> |
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#include <sot/core/factory.hh> |
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#include <sot/core/feature-vector3.hh> |
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#include <sot/core/matrix-geometry.hh> |
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using namespace dynamicgraph::sot; |
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using namespace std; |
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using namespace dynamicgraph; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(FeatureVector3, "FeatureVector3"); |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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FeatureVector3::FeatureVector3(const string &pointName) |
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: FeatureAbstract(pointName), |
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vectorSIN(NULL, |
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"sotFeatureVector3(" + name + ")::input(vector3)::vector"), |
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positionSIN( |
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NULL, "sotFeaturePoint6d(" + name + ")::input(matrixHomo)::position"), |
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articularJacobianSIN( |
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NULL, "sotFeatureVector3(" + name + ")::input(matrix)::Jq"), |
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positionRefSIN( |
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NULL, "sotFeatureVector3(" + name + ")::input(vector)::positionRef") { |
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jacobianSOUT.addDependency(positionSIN); |
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jacobianSOUT.addDependency(articularJacobianSIN); |
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errorSOUT.addDependency(vectorSIN); |
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errorSOUT.addDependency(positionSIN); |
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errorSOUT.addDependency(positionRefSIN); |
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signalRegistration(vectorSIN << positionSIN << articularJacobianSIN |
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<< positionRefSIN); |
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} |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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unsigned int &FeatureVector3::getDimension(unsigned int &dim, int /*time*/) { |
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sotDEBUG(25) << "# In {" << endl; |
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return dim = 3; |
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} |
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/* --------------------------------------------------------------------- */ |
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/** Compute the interaction matrix from a subset of |
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* the possible features. |
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*/ |
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Matrix &FeatureVector3::computeJacobian(Matrix &J, int time) { |
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sotDEBUG(15) << "# In {" << endl; |
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const Matrix &Jq = articularJacobianSIN(time); |
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const Vector &vect = vectorSIN(time); |
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const MatrixHomogeneous &M = positionSIN(time); |
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MatrixRotation R; |
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R = M.linear(); |
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Matrix Skew(3, 3); |
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Skew(0, 0) = 0; |
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Skew(0, 1) = -vect(2); |
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Skew(0, 2) = vect(1); |
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Skew(1, 0) = vect(2); |
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Skew(1, 1) = 0; |
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Skew(1, 2) = -vect(0); |
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Skew(2, 0) = -vect(1); |
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Skew(2, 1) = vect(0); |
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Skew(2, 2) = 0; |
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Matrix RSk(3, 3); |
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RSk = R * Skew; |
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J.resize(3, Jq.cols()); |
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for (unsigned int i = 0; i < 3; ++i) |
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for (int j = 0; j < Jq.cols(); ++j) { |
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J(i, j) = 0; |
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for (unsigned int k = 0; k < 3; ++k) { |
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J(i, j) -= RSk(i, k) * Jq(k + 3, j); |
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} |
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} |
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sotDEBUG(15) << "# Out }" << endl; |
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return J; |
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} |
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/** Compute the error between two visual features from a subset |
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*a the possible features. |
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*/ |
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Vector &FeatureVector3::computeError(Vector &Mvect3, int time) { |
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sotDEBUGIN(15); |
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const MatrixHomogeneous &M = positionSIN(time); |
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const Vector &vect = vectorSIN(time); |
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const Vector &vectdes = positionRefSIN(time); |
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sotDEBUG(15) << "M = " << M << std::endl; |
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sotDEBUG(15) << "v = " << vect << std::endl; |
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sotDEBUG(15) << "vd = " << vectdes << std::endl; |
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MatrixRotation R; |
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R = M.linear(); |
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Mvect3.resize(3); |
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Mvect3 = R * vect; |
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Mvect3 -= vectdes; |
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sotDEBUGOUT(15); |
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return Mvect3; |
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} |
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void FeatureVector3::display(std::ostream &os) const { |
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os << "Vector3 <" << name << ">"; |
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} |
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