relative-com.hh

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//
// Copyright (c) 2014 CNRS
// Authors: Florent Lamiraux
//
//
// This file is part of hpp-constraints.
// hpp-constraints is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-constraints is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-constraints. If not, see
// <http://www.gnu.org/licenses/>.

#ifndef HPP_CONSTRAINTS_RELATIVE_COM_HH
# define HPP_CONSTRAINTS_RELATIVE_COM_HH

# include <boost/assign/list_of.hpp>
# include <hpp/constraints/differentiable-function.hh>
# include <hpp/constraints/config.hh>
# include <hpp/constraints/fwd.hh>

namespace hpp {
  namespace constraints {


    class HPP_CONSTRAINTS_DLLAPI RelativeCom : public DifferentiableFunction
    {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
      static RelativeComPtr_t create (const DevicePtr_t& robot,
                      const JointPtr_t& joint,
                      const vector3_t reference,
                                      std::vector <bool> mask = std::vector<bool>(3, true))
      { return create ("RelativeCom", robot, joint, reference, mask); }
      static RelativeComPtr_t create (const std::string& name,
                                      const DevicePtr_t& robot,
                      const JointPtr_t& joint,
                      const vector3_t reference,
                                      std::vector <bool> mask = std::vector<bool>(3, true));
      static RelativeComPtr_t create (const DevicePtr_t& robot,
                                      const CenterOfMassComputationPtr_t& comc,
                      const JointPtr_t& joint,
                      const vector3_t reference,
                                      std::vector <bool> mask = std::vector<bool>(3, true));
      static RelativeComPtr_t create (const std::string& name,
                                      const DevicePtr_t& robot,
                                      const CenterOfMassComputationPtr_t& comc,
                      const JointPtr_t& joint,
                      const vector3_t reference,
                                      std::vector <bool> mask = std::vector<bool> (3, true));
      virtual ~RelativeCom () {}
      RelativeCom (const DevicePtr_t& robot,
          const CenterOfMassComputationPtr_t& comc,
          const JointPtr_t& joint, const vector3_t reference,
          std::vector <bool> mask,
          const std::string& name);

      virtual std::ostream& print (std::ostream& o) const;
    protected:
      virtual void impl_compute (LiegroupElementRef result,
                 ConfigurationIn_t argument)
    const;
      virtual void impl_jacobian (matrixOut_t jacobian,
                  ConfigurationIn_t arg) const;
    private:
      DevicePtr_t robot_;
      CenterOfMassComputationPtr_t comc_;
      JointPtr_t joint_;
      vector3_t reference_;
      std::vector <bool> mask_;
      bool nominalCase_;
      mutable ComJacobian_t jacobian_;
    }; // class RelativeCom
  } // namespace constraints
} // namespace hpp
#endif // HPP_CONSTRAINTS_RELATIVE_COM_HH