6 #ifndef __pinocchio_joint_translation_hpp__
7 #define __pinocchio_joint_translation_hpp__
9 #include "pinocchio/macros.hpp"
10 #include "pinocchio/multibody/joint/joint-base.hpp"
11 #include "pinocchio/multibody/constraint.hpp"
12 #include "pinocchio/spatial/inertia.hpp"
13 #include "pinocchio/spatial/skew.hpp"
21 template<
typename Scalar,
int Options>
27 template<
typename Scalar,
int Options,
typename MotionDerived>
33 template<
typename _Scalar,
int _Options>
36 typedef _Scalar Scalar;
37 enum { Options = _Options };
38 typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
39 typedef Eigen::Matrix<Scalar,6,1,Options> Vector6;
40 typedef Eigen::Matrix<Scalar,6,6,Options> Matrix6;
41 typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6) ToVectorConstReturnType;
42 typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6) ToVectorReturnType;
43 typedef Vector3 AngularType;
44 typedef Vector3 LinearType;
45 typedef const Vector3 ConstAngularType;
46 typedef const Vector3 ConstLinearType;
47 typedef Matrix6 ActionMatrixType;
56 template<
typename _Scalar,
int _Options>
58 :
MotionBase< MotionTranslationTpl<_Scalar,_Options> >
60 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
66 template<
typename Vector3Like>
67 MotionTranslationTpl(
const Eigen::MatrixBase<Vector3Like> & v)
71 MotionTranslationTpl(
const MotionTranslationTpl & other)
75 Vector3 & operator()() {
return m_v; }
76 const Vector3 & operator()()
const {
return m_v; }
78 inline PlainReturnType plain()
const
80 return PlainReturnType(m_v,PlainReturnType::Vector3::Zero());
83 bool isEqual_impl(
const MotionTranslationTpl & other)
const
85 return m_v == other.m_v;
88 MotionTranslationTpl & operator=(
const MotionTranslationTpl & other)
94 template<
typename Derived>
95 void addTo(MotionDense<Derived> & other)
const
97 other.linear() += m_v;
100 template<
typename Derived>
101 void setTo(MotionDense<Derived> & other)
const
103 other.linear() = m_v;
104 other.angular().setZero();
107 template<
typename S2,
int O2,
typename D2>
108 void se3Action_impl(
const SE3Tpl<S2,O2> & m, MotionDense<D2> & v)
const
110 v.angular().setZero();
111 v.linear().noalias() = m.rotation() * m_v;
114 template<
typename S2,
int O2>
115 MotionPlain se3Action_impl(
const SE3Tpl<S2,O2> & m)
const
118 se3Action_impl(m,res);
122 template<
typename S2,
int O2,
typename D2>
123 void se3ActionInverse_impl(
const SE3Tpl<S2,O2> & m, MotionDense<D2> & v)
const
126 v.linear().noalias() = m.rotation().transpose() * m_v;
129 v.angular().setZero();
132 template<
typename S2,
int O2>
133 MotionPlain se3ActionInverse_impl(
const SE3Tpl<S2,O2> & m)
const
136 se3ActionInverse_impl(m,res);
140 template<
typename M1,
typename M2>
141 void motionAction(
const MotionDense<M1> & v, MotionDense<M2> & mout)
const
144 mout.linear().noalias() = v.angular().cross(m_v);
147 mout.angular().setZero();
150 template<
typename M1>
151 MotionPlain motionAction(
const MotionDense<M1> & v)
const
158 const Vector3 & linear()
const {
return m_v; }
159 Vector3 & linear() {
return m_v; }
167 template<
typename S1,
int O1,
typename MotionDerived>
168 inline typename MotionDerived::MotionPlain
169 operator+(
const MotionTranslationTpl<S1,O1> & m1,
170 const MotionDense<MotionDerived> & m2)
172 return typename MotionDerived::MotionPlain(m2.linear() + m1.linear(), m2.angular());
177 template<
typename _Scalar,
int _Options>
185 typedef _Scalar Scalar;
187 typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
188 typedef Eigen::Matrix<Scalar,3,3,Options> Matrix3;
189 typedef typename Matrix3::IdentityReturnType AngularType;
190 typedef AngularType AngularRef;
191 typedef AngularType ConstAngularRef;
192 typedef Vector3 LinearType;
193 typedef LinearType & LinearRef;
194 typedef const LinearType & ConstLinearRef;
199 template<
typename Scalar,
int Options>
203 template<
typename _Scalar,
int _Options>
205 :
SE3Base< TransformTranslationTpl<_Scalar,_Options> >
207 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
213 template<
typename Vector3Like>
214 TransformTranslationTpl(
const Eigen::MatrixBase<Vector3Like> & translation)
215 : m_translation(translation)
218 PlainType plain()
const
220 PlainType res(PlainType::Identity());
221 res.rotation().setIdentity();
222 res.translation() = translation();
227 operator PlainType()
const {
return plain(); }
229 template<
typename S2,
int O2>
230 typename SE3GroupAction<TransformTranslationTpl>::ReturnType
231 se3action(
const SE3Tpl<S2,O2> & m)
const
233 typedef typename SE3GroupAction<TransformTranslationTpl>::ReturnType ReturnType;
235 res.translation() += translation();
240 ConstLinearRef translation()
const {
return m_translation; }
241 LinearRef translation() {
return m_translation; }
243 AngularType rotation()
const {
return AngularType(3,3); }
245 bool isEqual(
const TransformTranslationTpl & other)
const
247 return m_translation == other.m_translation;
252 LinearType m_translation;
257 template<
typename _Scalar,
int _Options>
260 typedef _Scalar Scalar;
262 enum { Options = _Options };
263 enum { LINEAR = 0, ANGULAR = 3 };
266 typedef Eigen::Matrix<Scalar,3,1,Options> JointForce;
267 typedef Eigen::Matrix<Scalar,6,3,Options> DenseBase;
269 typedef DenseBase MatrixReturnType;
270 typedef const DenseBase ConstMatrixReturnType;
273 template<
typename _Scalar,
int _Options>
277 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
283 ConstraintTranslationTpl() {}
289 template<
typename Vector3Like>
290 JointMotion __mult__(
const Eigen::MatrixBase<Vector3Like> & v)
const
292 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like,3);
293 return JointMotion(v);
296 int nv_impl()
const {
return NV; }
303 template<
typename Derived>
311 template<
typename MatrixDerived>
313 operator*(
const Eigen::MatrixBase<MatrixDerived> & F)
const
316 return F.derived().template middleRows<3>(LINEAR);
323 DenseBase matrix_impl()
const
326 S.template middleRows<3>(LINEAR).setIdentity();
327 S.template middleRows<3>(ANGULAR).setZero();
331 template<
typename S1,
int O1>
332 Eigen::Matrix<S1,6,3,O1> se3Action(
const SE3Tpl<S1,O1> & m)
const
334 Eigen::Matrix<S1,6,3,O1> M;
335 M.template middleRows<3>(LINEAR) = m.rotation();
336 M.template middleRows<3>(ANGULAR).setZero();
341 template<
typename S1,
int O1>
342 Eigen::Matrix<S1,6,3,O1> se3ActionInverse(
const SE3Tpl<S1,O1> & m)
const
344 Eigen::Matrix<S1,6,3,O1> M;
345 M.template middleRows<3>(LINEAR) = m.rotation().transpose();
346 M.template middleRows<3>(ANGULAR).setZero();
351 template<
typename MotionDerived>
352 DenseBase motionAction(
const MotionDense<MotionDerived> & m)
const
354 const typename MotionDerived::ConstAngularType w = m.angular();
357 skew(w,res.template middleRows<3>(LINEAR));
358 res.template middleRows<3>(ANGULAR).setZero();
363 bool isEqual(
const ConstraintTranslationTpl &)
const {
return true; }
367 template<
typename MotionDerived,
typename S2,
int O2>
368 inline typename MotionDerived::MotionPlain
369 operator^(
const MotionDense<MotionDerived> & m1,
370 const MotionTranslationTpl<S2,O2> & m2)
372 return m2.motionAction(m1);
376 template<
typename S1,
int O1,
typename S2,
int O2>
377 inline Eigen::Matrix<S2,6,3,O2>
379 const ConstraintTranslationTpl<S2,O2> &)
381 typedef ConstraintTranslationTpl<S2,O2> Constraint;
382 Eigen::Matrix<S2,6,3,O2> M;
383 alphaSkew(Y.mass(),Y.lever(),M.template middleRows<3>(Constraint::ANGULAR));
384 M.template middleRows<3>(Constraint::LINEAR).setZero();
385 M.template middleRows<3>(Constraint::LINEAR).diagonal().fill(Y.mass ());
391 template<
typename M6Like,
typename S2,
int O2>
392 inline const typename SizeDepType<3>::ColsReturn<M6Like>::ConstType
393 operator*(
const Eigen::MatrixBase<M6Like> & Y,
394 const ConstraintTranslationTpl<S2,O2> &)
396 typedef ConstraintTranslationTpl<S2,O2> Constraint;
397 return Y.derived().template middleCols<3>(Constraint::LINEAR);
400 template<
typename S1,
int O1>
402 {
typedef Eigen::Matrix<S1,6,3,O1> ReturnType; };
404 template<
typename S1,
int O1,
typename MotionDerived>
406 {
typedef Eigen::Matrix<S1,6,3,O1> ReturnType; };
410 template<
typename _Scalar,
int _Options>
417 typedef _Scalar Scalar;
418 enum { Options = _Options };
427 typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
428 typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t;
429 typedef Eigen::Matrix<Scalar,6,NV,Options> UD_t;
431 PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE
433 typedef Eigen::Matrix<Scalar,NQ,1,Options> ConfigVector_t;
434 typedef Eigen::Matrix<Scalar,NV,1,Options> TangentVector_t;
437 template<
typename Scalar,
int Options>
441 template<
typename Scalar,
int Options>
445 template<
typename _Scalar,
int _Options>
447 :
public JointDataBase< JointDataTranslationTpl<_Scalar,_Options> >
449 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
452 PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived);
453 PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR
466 : M(Transformation_t::Vector3::Zero())
467 , v(Motion_t::Vector3::Zero())
470 , UDinv(UD_t::Zero())
473 static std::string classname() {
return std::string(
"JointDataTranslation"); }
474 std::string shortname()
const {
return classname(); }
477 PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelTranslationTpl);
478 template<
typename _Scalar,
int _Options>
479 struct JointModelTranslationTpl
480 :
public JointModelBase< JointModelTranslationTpl<_Scalar,_Options> >
482 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
484 typedef JointTranslationTpl<_Scalar,_Options> JointDerived;
485 PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived);
487 typedef JointModelBase<JointModelTranslationTpl> Base;
491 using Base::setIndexes;
493 JointDataDerived createData()
const {
return JointDataDerived(); }
495 template<
typename ConfigVector>
496 void calc(JointDataDerived & data,
497 const typename Eigen::MatrixBase<ConfigVector> & qs)
const
499 data.M.translation() = this->jointConfigSelector(qs);
502 template<
typename ConfigVector,
typename TangentVector>
503 void calc(JointDataDerived & data,
504 const typename Eigen::MatrixBase<ConfigVector> & qs,
505 const typename Eigen::MatrixBase<TangentVector> & vs)
const
507 calc(data,qs.derived());
509 data.v.linear() = this->jointVelocitySelector(vs);
512 template<
typename Matrix6Like>
513 void calc_aba(JointDataDerived & data,
514 const Eigen::MatrixBase<Matrix6Like> & I,
515 const bool update_I)
const
517 data.U = I.template middleCols<3>(Inertia::LINEAR);
522 internal::PerformStYSInversion<Scalar>::run(data.U.template middleRows<3>(Inertia::LINEAR),data.Dinv);
524 data.UDinv.template middleRows<3>(Inertia::LINEAR).setIdentity();
525 data.UDinv.template middleRows<3>(Inertia::ANGULAR).noalias() = data.U.template middleRows<3>(Inertia::ANGULAR) * data.Dinv;
529 Matrix6Like & I_ = PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like,I);
530 I_.template block<3,3>(Inertia::ANGULAR,Inertia::ANGULAR)
531 -= data.UDinv.template middleRows<3>(Inertia::ANGULAR) * I_.template block<3,3>(Inertia::LINEAR, Inertia::ANGULAR);
532 I_.template middleCols<3>(Inertia::LINEAR).setZero();
533 I_.template block<3,3>(Inertia::LINEAR,Inertia::ANGULAR).setZero();
537 static std::string classname() {
return std::string(
"JointModelTranslation"); }
538 std::string shortname()
const {
return classname(); }
541 template<
typename NewScalar>
554 #include <boost/type_traits.hpp>
558 template<
typename Scalar,
int Options>
560 :
public integral_constant<bool,true> {};
562 template<
typename Scalar,
int Options>
564 :
public integral_constant<bool,true> {};
566 template<
typename Scalar,
int Options>
568 :
public integral_constant<bool,true> {};
570 template<
typename Scalar,
int Options>
572 :
public integral_constant<bool,true> {};
575 #endif // ifndef __pinocchio_joint_translation_hpp__