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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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#ifndef __SOT_MEMORY_TASK_HH |
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#define __SOT_MEMORY_TASK_HH |
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#include <sot/core/matrix-svd.hh> |
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#include <sot/core/task-abstract.hh> |
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#include "sot/core/api.hh" |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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namespace dynamicgraph { |
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namespace sot { |
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class SOT_CORE_EXPORT MemoryTaskSOT : public TaskAbstract::MemoryTaskAbstract { |
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public: // protected: |
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typedef Eigen::Map<Matrix, Eigen::internal::traits<Matrix>::Alignment> |
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Kernel_t; |
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typedef Eigen::Map<const Matrix, Eigen::internal::traits<Matrix>::Alignment> |
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KernelConst_t; |
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/* Internal memory to reduce the dynamic allocation at task resolution. */ |
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dynamicgraph::Vector err, tmpTask, tmpVar, tmpControl; |
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dynamicgraph::Matrix Jt; //( nJ,mJ ); |
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dynamicgraph::Matrix JK; //(nJ,mJ); |
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SVD_t svd; |
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Kernel_t kernel; |
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void resizeKernel(const Matrix::Index r, const Matrix::Index c) { |
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if (kernel.rows() != r || kernel.cols() != c) { |
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if (kernelMem.size() < r * c) kernelMem.resize(r, c); |
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new (&kernel) Kernel_t(kernelMem.data(), r, c); |
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} |
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} |
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Kernel_t &getKernel(const Matrix::Index r, const Matrix::Index c) { |
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resizeKernel(r, c); |
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return kernel; |
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} |
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public: |
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/** |
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* \param mJ is the number of joints |
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* \param nJ the number of feature in the task |
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**/ |
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MemoryTaskSOT(const Matrix::Index nJ = 0, const Matrix::Index mJ = 0); |
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void display(std::ostream &os) const; |
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private: |
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void initMemory(const Matrix::Index nJ, const Matrix::Index mJ); |
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Matrix kernelMem; |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // __SOT_MEMORY_TASK_HH |