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// |
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// Copyright (c) 2017-2021 CNRS |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#include "tsid/math/utils.hpp" |
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#include "tsid/trajectories/trajectory-se3.hpp" |
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using namespace tsid::math; |
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namespace tsid { |
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namespace trajectories { |
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TrajectorySE3Constant::TrajectorySE3Constant(const std::string& name) |
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: TrajectoryBase(name) { |
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m_sample.resize(12, 6); |
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} |
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TrajectorySE3Constant::TrajectorySE3Constant(const std::string& name, |
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const SE3& M) |
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: TrajectoryBase(name) { |
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m_sample.resize(12, 6); |
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TSID_DISABLE_WARNING_PUSH |
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TSID_DISABLE_WARNING_DEPRECATED |
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tsid::math::SE3ToVector(M, m_sample.pos); |
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TSID_DISABLE_WARNING_POP |
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} |
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unsigned int TrajectorySE3Constant::size() const { return 6; } |
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void TrajectorySE3Constant::setReference(const pinocchio::SE3& ref) { |
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m_sample.resize(12, 6); |
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TSID_DISABLE_WARNING_PUSH |
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TSID_DISABLE_WARNING_DEPRECATED |
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tsid::math::SE3ToVector(ref, m_sample.pos); |
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TSID_DISABLE_WARNING_POP |
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} |
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const TrajectorySample& TrajectorySE3Constant::operator()(double) { |
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return m_sample; |
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} |
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const TrajectorySample& TrajectorySE3Constant::computeNext() { |
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return m_sample; |
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} |
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void TrajectorySE3Constant::getLastSample(TrajectorySample& sample) const { |
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sample = m_sample; |
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} |
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bool TrajectorySE3Constant::has_trajectory_ended() const { return true; } |
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} // namespace trajectories |
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} // namespace tsid |