pinocchio  2.2.1-dirty
joint-translation.hpp
1 //
2 // Copyright (c) 2015-2019 CNRS INRIA
3 // Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5 
6 #ifndef __pinocchio_joint_translation_hpp__
7 #define __pinocchio_joint_translation_hpp__
8 
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"
14 
15 namespace pinocchio
16 {
17 
18  template<typename Scalar, int Options=0> struct MotionTranslationTpl;
20 
21  template<typename Scalar, int Options>
22  struct SE3GroupAction< MotionTranslationTpl<Scalar,Options> >
23  {
25  };
26 
27  template<typename Scalar, int Options, typename MotionDerived>
28  struct MotionAlgebraAction< MotionTranslationTpl<Scalar,Options>, MotionDerived>
29  {
31  };
32 
33  template<typename _Scalar, int _Options>
34  struct traits< MotionTranslationTpl<_Scalar,_Options> >
35  {
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;
49  typedef MotionPlain PlainReturnType;
50  enum {
51  LINEAR = 0,
52  ANGULAR = 3
53  };
54  }; // traits MotionTranslationTpl
55 
56  template<typename _Scalar, int _Options>
58  : MotionBase< MotionTranslationTpl<_Scalar,_Options> >
59  {
60  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
61 
62  MOTION_TYPEDEF_TPL(MotionTranslationTpl);
63 
65 
66  template<typename Vector3Like>
67  MotionTranslationTpl(const Eigen::MatrixBase<Vector3Like> & v)
68  : rate(v)
69  {}
70 
72  : rate(other.rate)
73  {}
74 
75  Vector3 & operator()() { return rate; }
76  const Vector3 & operator()() const { return rate; }
77 
78  inline PlainReturnType plain() const
79  {
80  return PlainReturnType(rate,PlainReturnType::Vector3::Zero());
81  }
82 
83  MotionTranslationTpl & operator=(const MotionTranslationTpl & other)
84  {
85  rate = other.rate;
86  return *this;
87  }
88 
89  template<typename Derived>
90  void addTo(MotionDense<Derived> & other) const
91  {
92  other.linear() += rate;
93  }
94 
95  template<typename Derived>
96  void setTo(MotionDense<Derived> & other) const
97  {
98  other.linear() = rate;
99  other.angular().setZero();
100  }
101 
102  template<typename S2, int O2, typename D2>
103  void se3Action_impl(const SE3Tpl<S2,O2> & m, MotionDense<D2> & v) const
104  {
105  v.angular().setZero();
106  v.linear().noalias() = m.rotation() * rate; // TODO: check efficiency
107  }
108 
109  template<typename S2, int O2>
110  MotionPlain se3Action_impl(const SE3Tpl<S2,O2> & m) const
111  {
112  MotionPlain res;
113  se3Action_impl(m,res);
114  return res;
115  }
116 
117  template<typename S2, int O2, typename D2>
118  void se3ActionInverse_impl(const SE3Tpl<S2,O2> & m, MotionDense<D2> & v) const
119  {
120  // Linear
121  v.linear().noalias() = m.rotation().transpose() * rate;
122 
123  // Angular
124  v.angular().setZero();
125  }
126 
127  template<typename S2, int O2>
128  MotionPlain se3ActionInverse_impl(const SE3Tpl<S2,O2> & m) const
129  {
130  MotionPlain res;
131  se3ActionInverse_impl(m,res);
132  return res;
133  }
134 
135  template<typename M1, typename M2>
136  void motionAction(const MotionDense<M1> & v, MotionDense<M2> & mout) const
137  {
138  // Linear
139  mout.linear().noalias() = v.angular().cross(rate);
140 
141  // Angular
142  mout.angular().setZero();
143  }
144 
145  template<typename M1>
146  MotionPlain motionAction(const MotionDense<M1> & v) const
147  {
148  MotionPlain res;
149  motionAction(v,res);
150  return res;
151  }
152 
153  // data
154  Vector3 rate;
155 
156  }; // struct MotionTranslationTpl
157 
158  template<typename S1, int O1, typename MotionDerived>
159  inline typename MotionDerived::MotionPlain
160  operator+(const MotionTranslationTpl<S1,O1> & m1,
161  const MotionDense<MotionDerived> & m2)
162  {
163  return typename MotionDerived::MotionPlain(m2.linear() + m1.rate, m2.angular());
164  }
165 
166  template<typename Scalar, int Options> struct TransformTranslationTpl;
167 
168  template<typename _Scalar, int _Options>
169  struct traits< TransformTranslationTpl<_Scalar,_Options> >
170  {
171  enum {
172  Options = _Options,
173  LINEAR = 0,
174  ANGULAR = 3
175  };
176  typedef _Scalar Scalar;
178  typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
179  typedef Eigen::Matrix<Scalar,3,3,Options> Matrix3;
180  typedef typename Matrix3::IdentityReturnType AngularType;
181  typedef AngularType AngularRef;
182  typedef AngularType ConstAngularRef;
183  typedef Vector3 LinearType;
184  typedef LinearType & LinearRef;
185  typedef const LinearType & ConstLinearRef;
186  typedef typename traits<PlainType>::ActionMatrixType ActionMatrixType;
187  typedef typename traits<PlainType>::HomogeneousMatrixType HomogeneousMatrixType;
188  }; // traits TransformTranslationTpl
189 
190  template<typename Scalar, int Options>
191  struct SE3GroupAction< TransformTranslationTpl<Scalar,Options> >
192  { typedef typename traits <TransformTranslationTpl<Scalar,Options> >::PlainType ReturnType; };
193 
194  template<typename _Scalar, int _Options>
196  : SE3Base< TransformTranslationTpl<_Scalar,_Options> >
197  {
198  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
199  PINOCCHIO_SE3_TYPEDEF_TPL(TransformTranslationTpl);
200  typedef typename traits<TransformTranslationTpl>::PlainType PlainType;
201 
203 
204  template<typename Vector3Like>
205  TransformTranslationTpl(const Eigen::MatrixBase<Vector3Like> & translation)
206  : m_translation(translation)
207  {}
208 
209  PlainType plain() const
210  {
211  PlainType res(PlainType::Identity());
212  res.rotation().setIdentity();
213  res.translation() = translation();
214 
215  return res;
216  }
217 
218  operator PlainType() const { return plain(); }
219 
220  template<typename S2, int O2>
222  se3action(const SE3Tpl<S2,O2> & m) const
223  {
224  typedef typename SE3GroupAction<TransformTranslationTpl>::ReturnType ReturnType;
225  ReturnType res(m);
226  res.translation() += translation();
227 
228  return res;
229  }
230 
231  ConstLinearRef translation() const { return m_translation; }
232  LinearRef translation() { return m_translation; }
233 
234  AngularType rotation() const { return AngularType(3,3); }
235 
236  protected:
237 
238  LinearType m_translation;
239  };
240 
241  template<typename Scalar, int Options> struct ConstraintTranslationTpl;
242 
243  template<typename _Scalar, int _Options>
244  struct traits< ConstraintTranslationTpl<_Scalar,_Options> >
245  {
246  typedef _Scalar Scalar;
247 
248  enum { Options = _Options };
249  enum { LINEAR = 0, ANGULAR = 3 };
250 
252  typedef Eigen::Matrix<Scalar,3,1,Options> JointForce;
253  typedef Eigen::Matrix<Scalar,6,3,Options> DenseBase;
254 
255  typedef DenseBase MatrixReturnType;
256  typedef const DenseBase ConstMatrixReturnType;
257  }; // traits ConstraintTranslationTpl
258 
259  template<typename _Scalar, int _Options>
261  : ConstraintBase< ConstraintTranslationTpl<_Scalar,_Options> >
262  {
263  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
264 
265  PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(ConstraintTranslationTpl)
266 
267  enum { NV = 3 };
268 
270 
271 // template<typename S1, int O1>
272 // Motion operator*(const MotionTranslationTpl<S1,O1> & vj) const
273 // { return Motion(vj(), Motion::Vector3::Zero()); }
274 
275  template<typename Vector3Like>
276  JointMotion __mult__(const Eigen::MatrixBase<Vector3Like> & v) const
277  {
278  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like,3);
279  return JointMotion(v);
280  }
281 
282  int nv_impl() const { return NV; }
283 
285  {
286  const ConstraintTranslationTpl & ref;
287  ConstraintTranspose(const ConstraintTranslationTpl & ref) : ref(ref) {}
288 
289  template<typename Derived>
291  operator* (const ForceDense<Derived> & phi)
292  {
293  return phi.linear();
294  }
295 
296  /* [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */
297  template<typename MatrixDerived>
298  const typename SizeDepType<3>::RowsReturn<MatrixDerived>::ConstType
299  operator*(const Eigen::MatrixBase<MatrixDerived> & F) const
300  {
301  assert(F.rows()==6);
302  return F.derived().template middleRows<3>(LINEAR);
303  }
304 
305  }; // struct ConstraintTranspose
306 
307  ConstraintTranspose transpose () const { return ConstraintTranspose(*this); }
308 
309  DenseBase matrix_impl() const
310  {
311  DenseBase S;
312  S.template middleRows<3>(LINEAR).setIdentity();
313  S.template middleRows<3>(ANGULAR).setZero();
314  return S;
315  }
316 
317  template<typename S1, int O1>
318  Eigen::Matrix<S1,6,3,O1> se3Action(const SE3Tpl<S1,O1> & m) const
319  {
320  Eigen::Matrix<S1,6,3,O1> M;
321  M.template middleRows<3>(LINEAR) = m.rotation();
322  M.template middleRows<3>(ANGULAR).setZero();
323 
324  return M;
325  }
326 
327  template<typename S1, int O1>
328  Eigen::Matrix<S1,6,3,O1> se3ActionInverse(const SE3Tpl<S1,O1> & m) const
329  {
330  Eigen::Matrix<S1,6,3,O1> M;
331  M.template middleRows<3>(LINEAR) = m.rotation().transpose();
332  M.template middleRows<3>(ANGULAR).setZero();
333 
334  return M;
335  }
336 
337  template<typename MotionDerived>
338  DenseBase motionAction(const MotionDense<MotionDerived> & m) const
339  {
340  const typename MotionDerived::ConstAngularType w = m.angular();
341 
342  DenseBase res;
343  skew(w,res.template middleRows<3>(LINEAR));
344  res.template middleRows<3>(ANGULAR).setZero();
345 
346  return res;
347  }
348 
349  }; // struct ConstraintTranslationTpl
350 
351  template<typename MotionDerived, typename S2, int O2>
352  inline typename MotionDerived::MotionPlain
353  operator^(const MotionDense<MotionDerived> & m1,
354  const MotionTranslationTpl<S2,O2> & m2)
355  {
356  return m2.motionAction(m1);
357  }
358 
359  /* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
360  template<typename S1, int O1, typename S2, int O2>
361  inline Eigen::Matrix<S2,6,3,O2>
362  operator*(const InertiaTpl<S1,O1> & Y,
364  {
365  typedef ConstraintTranslationTpl<S2,O2> Constraint;
366  Eigen::Matrix<S2,6,3,O2> M;
367  alphaSkew(Y.mass(),Y.lever(),M.template middleRows<3>(Constraint::ANGULAR));
368  M.template middleRows<3>(Constraint::LINEAR).setZero();
369  M.template middleRows<3>(Constraint::LINEAR).diagonal().fill(Y.mass ());
370 
371  return M;
372  }
373 
374  /* [ABA] Y*S operator*/
375  template<typename M6Like, typename S2, int O2>
376  inline const typename SizeDepType<3>::ColsReturn<M6Like>::ConstType
377  operator*(const Eigen::MatrixBase<M6Like> & Y,
379  {
380  typedef ConstraintTranslationTpl<S2,O2> Constraint;
381  return Y.derived().template middleCols<3>(Constraint::LINEAR);
382  }
383 
384  template<typename S1, int O1>
386  { typedef Eigen::Matrix<S1,6,3,O1> ReturnType; };
387 
388  template<typename S1, int O1, typename MotionDerived>
389  struct MotionAlgebraAction< ConstraintTranslationTpl<S1,O1>,MotionDerived >
390  { typedef Eigen::Matrix<S1,6,3,O1> ReturnType; };
391 
392  template<typename Scalar, int Options> struct JointTranslationTpl;
393 
394  template<typename _Scalar, int _Options>
395  struct traits< JointTranslationTpl<_Scalar,_Options> >
396  {
397  enum {
398  NQ = 3,
399  NV = 3
400  };
401  typedef _Scalar Scalar;
402  enum { Options = _Options };
409 
410  // [ABA]
411  typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
412  typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t;
413  typedef Eigen::Matrix<Scalar,6,NV,Options> UD_t;
414 
415  PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE
416 
417  typedef Eigen::Matrix<Scalar,NQ,1,Options> ConfigVector_t;
418  typedef Eigen::Matrix<Scalar,NV,1,Options> TangentVector_t;
419  }; // traits JointTranslationTpl
420 
421  template<typename Scalar, int Options>
422  struct traits< JointDataTranslationTpl<Scalar,Options> >
424 
425  template<typename Scalar, int Options>
426  struct traits< JointModelTranslationTpl<Scalar,Options> >
428 
429  template<typename _Scalar, int _Options>
431  : public JointDataBase< JointDataTranslationTpl<_Scalar,_Options> >
432  {
433  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
434 
436  PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived);
437  PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR
438 
439  Constraint_t S;
440  Transformation_t M;
441  Motion_t v;
442  Bias_t c;
443 
444  // [ABA] specific data
445  U_t U;
446  D_t Dinv;
447  UD_t UDinv;
448 
450 
451  static std::string classname() { return std::string("JointDataTranslation"); }
452  std::string shortname() const { return classname(); }
453  }; // struct JointDataTranslationTpl
454 
455  PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelTranslationTpl);
456  template<typename _Scalar, int _Options>
458  : public JointModelBase< JointModelTranslationTpl<_Scalar,_Options> >
459  {
460  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
461 
463  PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived);
464 
466  using Base::id;
467  using Base::idx_q;
468  using Base::idx_v;
469  using Base::setIndexes;
470 
471  JointDataDerived createData() const { return JointDataDerived(); }
472 
473  template<typename ConfigVector>
474  void calc(JointDataDerived & data,
475  const typename Eigen::MatrixBase<ConfigVector> & qs) const
476  {
477  data.M.translation() = this->jointConfigSelector(qs);
478  }
479 
480  template<typename ConfigVector, typename TangentVector>
481  void calc(JointDataDerived & data,
482  const typename Eigen::MatrixBase<ConfigVector> & qs,
483  const typename Eigen::MatrixBase<TangentVector> & vs) const
484  {
485  calc(data,qs.derived());
486 
487  data.v() = this->jointVelocitySelector(vs);
488  }
489 
490  template<typename Matrix6Like>
491  void calc_aba(JointDataDerived & data,
492  const Eigen::MatrixBase<Matrix6Like> & I,
493  const bool update_I) const
494  {
495  data.U = I.template middleCols<3>(Inertia::LINEAR);
496 
497  // compute inverse
498 // data.Dinv.setIdentity();
499 // data.U.template middleRows<3>(Inertia::LINEAR).llt().solveInPlace(data.Dinv);
500  internal::PerformStYSInversion<Scalar>::run(data.U.template middleRows<3>(Inertia::LINEAR),data.Dinv);
501 
502  data.UDinv.template middleRows<3>(Inertia::LINEAR).setIdentity(); // can be put in data constructor
503  data.UDinv.template middleRows<3>(Inertia::ANGULAR).noalias() = data.U.template middleRows<3>(Inertia::ANGULAR) * data.Dinv;
504 
505  if (update_I)
506  {
507  Matrix6Like & I_ = PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like,I);
508  I_.template block<3,3>(Inertia::ANGULAR,Inertia::ANGULAR)
509  -= data.UDinv.template middleRows<3>(Inertia::ANGULAR) * I_.template block<3,3>(Inertia::LINEAR, Inertia::ANGULAR);
510  I_.template middleCols<3>(Inertia::LINEAR).setZero();
511  I_.template block<3,3>(Inertia::LINEAR,Inertia::ANGULAR).setZero();
512  }
513  }
514 
515  static std::string classname() { return std::string("JointModelTranslation"); }
516  std::string shortname() const { return classname(); }
517 
519  template<typename NewScalar>
521  {
523  ReturnType res;
524  res.setIndexes(id(),idx_q(),idx_v());
525  return res;
526  }
527 
528  }; // struct JointModelTranslationTpl
529 
530 } // namespace pinocchio
531 
532 #include <boost/type_traits.hpp>
533 
534 namespace boost
535 {
536  template<typename Scalar, int Options>
537  struct has_nothrow_constructor< ::pinocchio::JointModelTranslationTpl<Scalar,Options> >
538  : public integral_constant<bool,true> {};
539 
540  template<typename Scalar, int Options>
541  struct has_nothrow_copy< ::pinocchio::JointModelTranslationTpl<Scalar,Options> >
542  : public integral_constant<bool,true> {};
543 
544  template<typename Scalar, int Options>
545  struct has_nothrow_constructor< ::pinocchio::JointDataTranslationTpl<Scalar,Options> >
546  : public integral_constant<bool,true> {};
547 
548  template<typename Scalar, int Options>
549  struct has_nothrow_copy< ::pinocchio::JointDataTranslationTpl<Scalar,Options> >
550  : public integral_constant<bool,true> {};
551 }
552 
553 #endif // ifndef __pinocchio_joint_translation_hpp__
int idx_q(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space...
int idx_v(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxVVisitor to get the index in the full model tangent space corre...
Return type of the ation of a Motion onto an object of type D.
JointDataTpl< Scalar, Options, JointCollectionTpl > createData(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through CreateData visitor to create a JointDataTpl.
std::string shortname(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointShortnameVisitor to get the shortname of the derived joint model...
Main pinocchio namespace.
Definition: treeview.dox:24
void alphaSkew(const Scalar alpha, const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3 > &M)
Computes the skew representation of a given 3d vector multiplied by a given scalar. i.e. the antisymmetric matrix representation of the cross product operator ( )
Definition: skew.hpp:124
Common traits structure to fully define base classes for CRTP.
Definition: spatial/fwd.hpp:32
void skew(const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3 > &M)
Computes the skew representation of a given 3d vector, i.e. the antisymmetric matrix representation o...
Definition: skew.hpp:21
ConstLinearType linear() const
Return the linear part of the force vector.
Definition: force-base.hpp:47
JointModelTranslationTpl< NewScalar, Options > cast() const
void calc_aba(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I)
Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcAbaVisitor to...
MultiplicationOp< InertiaTpl< Scalar, Options >, ConstraintDerived >::ReturnType operator*(const InertiaTpl< Scalar, Options > &Y, const ConstraintBase< ConstraintDerived > &constraint)
 .