pinocchio  2.3.1-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  : m_v(v)
69  {}
70 
72  : m_v(other.m_v)
73  {}
74 
75  Vector3 & operator()() { return m_v; }
76  const Vector3 & operator()() const { return m_v; }
77 
78  inline PlainReturnType plain() const
79  {
80  return PlainReturnType(m_v,PlainReturnType::Vector3::Zero());
81  }
82 
83  bool isEqual_impl(const MotionTranslationTpl & other) const
84  {
85  return m_v == other.m_v;
86  }
87 
88  MotionTranslationTpl & operator=(const MotionTranslationTpl & other)
89  {
90  m_v = other.m_v;
91  return *this;
92  }
93 
94  template<typename Derived>
95  void addTo(MotionDense<Derived> & other) const
96  {
97  other.linear() += m_v;
98  }
99 
100  template<typename Derived>
101  void setTo(MotionDense<Derived> & other) const
102  {
103  other.linear() = m_v;
104  other.angular().setZero();
105  }
106 
107  template<typename S2, int O2, typename D2>
108  void se3Action_impl(const SE3Tpl<S2,O2> & m, MotionDense<D2> & v) const
109  {
110  v.angular().setZero();
111  v.linear().noalias() = m.rotation() * m_v; // TODO: check efficiency
112  }
113 
114  template<typename S2, int O2>
115  MotionPlain se3Action_impl(const SE3Tpl<S2,O2> & m) const
116  {
117  MotionPlain res;
118  se3Action_impl(m,res);
119  return res;
120  }
121 
122  template<typename S2, int O2, typename D2>
123  void se3ActionInverse_impl(const SE3Tpl<S2,O2> & m, MotionDense<D2> & v) const
124  {
125  // Linear
126  v.linear().noalias() = m.rotation().transpose() * m_v;
127 
128  // Angular
129  v.angular().setZero();
130  }
131 
132  template<typename S2, int O2>
133  MotionPlain se3ActionInverse_impl(const SE3Tpl<S2,O2> & m) const
134  {
135  MotionPlain res;
136  se3ActionInverse_impl(m,res);
137  return res;
138  }
139 
140  template<typename M1, typename M2>
141  void motionAction(const MotionDense<M1> & v, MotionDense<M2> & mout) const
142  {
143  // Linear
144  mout.linear().noalias() = v.angular().cross(m_v);
145 
146  // Angular
147  mout.angular().setZero();
148  }
149 
150  template<typename M1>
151  MotionPlain motionAction(const MotionDense<M1> & v) const
152  {
153  MotionPlain res;
154  motionAction(v,res);
155  return res;
156  }
157 
158  const Vector3 & linear() const { return m_v; }
159  Vector3 & linear() { return m_v; }
160 
161  protected:
162 
163  Vector3 m_v;
164 
165  }; // struct MotionTranslationTpl
166 
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)
171  {
172  return typename MotionDerived::MotionPlain(m2.linear() + m1.linear(), m2.angular());
173  }
174 
175  template<typename Scalar, int Options> struct TransformTranslationTpl;
176 
177  template<typename _Scalar, int _Options>
178  struct traits< TransformTranslationTpl<_Scalar,_Options> >
179  {
180  enum {
181  Options = _Options,
182  LINEAR = 0,
183  ANGULAR = 3
184  };
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;
195  typedef typename traits<PlainType>::ActionMatrixType ActionMatrixType;
196  typedef typename traits<PlainType>::HomogeneousMatrixType HomogeneousMatrixType;
197  }; // traits TransformTranslationTpl
198 
199  template<typename Scalar, int Options>
200  struct SE3GroupAction< TransformTranslationTpl<Scalar,Options> >
201  { typedef typename traits <TransformTranslationTpl<Scalar,Options> >::PlainType ReturnType; };
202 
203  template<typename _Scalar, int _Options>
205  : SE3Base< TransformTranslationTpl<_Scalar,_Options> >
206  {
207  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
208  PINOCCHIO_SE3_TYPEDEF_TPL(TransformTranslationTpl);
209  typedef typename traits<TransformTranslationTpl>::PlainType PlainType;
210  typedef typename traits<TransformTranslationTpl>::Vector3 Vector3;
211 
213 
214  template<typename Vector3Like>
215  TransformTranslationTpl(const Eigen::MatrixBase<Vector3Like> & translation)
216  : m_translation(translation)
217  {}
218 
219  PlainType plain() const
220  {
221  PlainType res(PlainType::Identity());
222  res.rotation().setIdentity();
223  res.translation() = translation();
224 
225  return res;
226  }
227 
228  operator PlainType() const { return plain(); }
229 
230  template<typename S2, int O2>
232  se3action(const SE3Tpl<S2,O2> & m) const
233  {
234  typedef typename SE3GroupAction<TransformTranslationTpl>::ReturnType ReturnType;
235  ReturnType res(m);
236  res.translation() += translation();
237 
238  return res;
239  }
240 
241  ConstLinearRef translation() const { return m_translation; }
242  LinearRef translation() { return m_translation; }
243 
244  AngularType rotation() const { return AngularType(3,3); }
245 
246  bool isEqual(const TransformTranslationTpl & other) const
247  {
248  return m_translation == other.m_translation;
249  }
250 
251  protected:
252 
253  LinearType m_translation;
254  };
255 
256  template<typename Scalar, int Options> struct ConstraintTranslationTpl;
257 
258  template<typename _Scalar, int _Options>
259  struct traits< ConstraintTranslationTpl<_Scalar,_Options> >
260  {
261  typedef _Scalar Scalar;
262 
263  enum { Options = _Options };
264  enum { LINEAR = 0, ANGULAR = 3 };
265 
267  typedef Eigen::Matrix<Scalar,3,1,Options> JointForce;
268  typedef Eigen::Matrix<Scalar,6,3,Options> DenseBase;
269 
270  typedef DenseBase MatrixReturnType;
271  typedef const DenseBase ConstMatrixReturnType;
272  }; // traits ConstraintTranslationTpl
273 
274  template<typename _Scalar, int _Options>
276  : ConstraintBase< ConstraintTranslationTpl<_Scalar,_Options> >
277  {
278  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
279 
280  PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(ConstraintTranslationTpl)
281 
282  enum { NV = 3 };
283 
285 
286 // template<typename S1, int O1>
287 // Motion operator*(const MotionTranslationTpl<S1,O1> & vj) const
288 // { return Motion(vj(), Motion::Vector3::Zero()); }
289 
290  template<typename Vector3Like>
291  JointMotion __mult__(const Eigen::MatrixBase<Vector3Like> & v) const
292  {
293  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like,3);
294  return JointMotion(v);
295  }
296 
297  int nv_impl() const { return NV; }
298 
300  {
301  const ConstraintTranslationTpl & ref;
302  ConstraintTranspose(const ConstraintTranslationTpl & ref) : ref(ref) {}
303 
304  template<typename Derived>
306  operator* (const ForceDense<Derived> & phi)
307  {
308  return phi.linear();
309  }
310 
311  /* [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */
312  template<typename MatrixDerived>
313  const typename SizeDepType<3>::RowsReturn<MatrixDerived>::ConstType
314  operator*(const Eigen::MatrixBase<MatrixDerived> & F) const
315  {
316  assert(F.rows()==6);
317  return F.derived().template middleRows<3>(LINEAR);
318  }
319 
320  }; // struct ConstraintTranspose
321 
322  ConstraintTranspose transpose () const { return ConstraintTranspose(*this); }
323 
324  DenseBase matrix_impl() const
325  {
326  DenseBase S;
327  S.template middleRows<3>(LINEAR).setIdentity();
328  S.template middleRows<3>(ANGULAR).setZero();
329  return S;
330  }
331 
332  template<typename S1, int O1>
333  Eigen::Matrix<S1,6,3,O1> se3Action(const SE3Tpl<S1,O1> & m) const
334  {
335  Eigen::Matrix<S1,6,3,O1> M;
336  M.template middleRows<3>(LINEAR) = m.rotation();
337  M.template middleRows<3>(ANGULAR).setZero();
338 
339  return M;
340  }
341 
342  template<typename S1, int O1>
343  Eigen::Matrix<S1,6,3,O1> se3ActionInverse(const SE3Tpl<S1,O1> & m) const
344  {
345  Eigen::Matrix<S1,6,3,O1> M;
346  M.template middleRows<3>(LINEAR) = m.rotation().transpose();
347  M.template middleRows<3>(ANGULAR).setZero();
348 
349  return M;
350  }
351 
352  template<typename MotionDerived>
353  DenseBase motionAction(const MotionDense<MotionDerived> & m) const
354  {
355  const typename MotionDerived::ConstAngularType w = m.angular();
356 
357  DenseBase res;
358  skew(w,res.template middleRows<3>(LINEAR));
359  res.template middleRows<3>(ANGULAR).setZero();
360 
361  return res;
362  }
363 
364  bool isEqual(const ConstraintTranslationTpl &) const { return true; }
365 
366  }; // struct ConstraintTranslationTpl
367 
368  template<typename MotionDerived, typename S2, int O2>
369  inline typename MotionDerived::MotionPlain
370  operator^(const MotionDense<MotionDerived> & m1,
371  const MotionTranslationTpl<S2,O2> & m2)
372  {
373  return m2.motionAction(m1);
374  }
375 
376  /* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
377  template<typename S1, int O1, typename S2, int O2>
378  inline Eigen::Matrix<S2,6,3,O2>
379  operator*(const InertiaTpl<S1,O1> & Y,
381  {
382  typedef ConstraintTranslationTpl<S2,O2> Constraint;
383  Eigen::Matrix<S2,6,3,O2> M;
384  alphaSkew(Y.mass(),Y.lever(),M.template middleRows<3>(Constraint::ANGULAR));
385  M.template middleRows<3>(Constraint::LINEAR).setZero();
386  M.template middleRows<3>(Constraint::LINEAR).diagonal().fill(Y.mass ());
387 
388  return M;
389  }
390 
391  /* [ABA] Y*S operator*/
392  template<typename M6Like, typename S2, int O2>
393  inline const typename SizeDepType<3>::ColsReturn<M6Like>::ConstType
394  operator*(const Eigen::MatrixBase<M6Like> & Y,
396  {
397  typedef ConstraintTranslationTpl<S2,O2> Constraint;
398  return Y.derived().template middleCols<3>(Constraint::LINEAR);
399  }
400 
401  template<typename S1, int O1>
403  { typedef Eigen::Matrix<S1,6,3,O1> ReturnType; };
404 
405  template<typename S1, int O1, typename MotionDerived>
406  struct MotionAlgebraAction< ConstraintTranslationTpl<S1,O1>,MotionDerived >
407  { typedef Eigen::Matrix<S1,6,3,O1> ReturnType; };
408 
409  template<typename Scalar, int Options> struct JointTranslationTpl;
410 
411  template<typename _Scalar, int _Options>
412  struct traits< JointTranslationTpl<_Scalar,_Options> >
413  {
414  enum {
415  NQ = 3,
416  NV = 3
417  };
418  typedef _Scalar Scalar;
419  enum { Options = _Options };
426 
427  // [ABA]
428  typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
429  typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t;
430  typedef Eigen::Matrix<Scalar,6,NV,Options> UD_t;
431 
432  PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE
433 
434  typedef Eigen::Matrix<Scalar,NQ,1,Options> ConfigVector_t;
435  typedef Eigen::Matrix<Scalar,NV,1,Options> TangentVector_t;
436  }; // traits JointTranslationTpl
437 
438  template<typename Scalar, int Options>
439  struct traits< JointDataTranslationTpl<Scalar,Options> >
441 
442  template<typename Scalar, int Options>
443  struct traits< JointModelTranslationTpl<Scalar,Options> >
445 
446  template<typename _Scalar, int _Options>
448  : public JointDataBase< JointDataTranslationTpl<_Scalar,_Options> >
449  {
450  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
451 
453  PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived);
454  PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR
455 
456  Constraint_t S;
457  Transformation_t M;
458  Motion_t v;
459  Bias_t c;
460 
461  // [ABA] specific data
462  U_t U;
463  D_t Dinv;
464  UD_t UDinv;
465 
467  : M(Transformation_t::Vector3::Zero())
468  , v(Motion_t::Vector3::Zero())
469  , U(U_t::Zero())
470  , Dinv(D_t::Zero())
471  , UDinv(UD_t::Zero())
472  {}
473 
474  static std::string classname() { return std::string("JointDataTranslation"); }
475  std::string shortname() const { return classname(); }
476  }; // struct JointDataTranslationTpl
477 
478  PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelTranslationTpl);
479  template<typename _Scalar, int _Options>
481  : public JointModelBase< JointModelTranslationTpl<_Scalar,_Options> >
482  {
483  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
484 
486  PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived);
487 
489  using Base::id;
490  using Base::idx_q;
491  using Base::idx_v;
492  using Base::setIndexes;
493 
494  JointDataDerived createData() const { return JointDataDerived(); }
495 
496  template<typename ConfigVector>
497  void calc(JointDataDerived & data,
498  const typename Eigen::MatrixBase<ConfigVector> & qs) const
499  {
500  data.M.translation() = this->jointConfigSelector(qs);
501  }
502 
503  template<typename ConfigVector, typename TangentVector>
504  void calc(JointDataDerived & data,
505  const typename Eigen::MatrixBase<ConfigVector> & qs,
506  const typename Eigen::MatrixBase<TangentVector> & vs) const
507  {
508  calc(data,qs.derived());
509 
510  data.v.linear() = this->jointVelocitySelector(vs);
511  }
512 
513  template<typename Matrix6Like>
514  void calc_aba(JointDataDerived & data,
515  const Eigen::MatrixBase<Matrix6Like> & I,
516  const bool update_I) const
517  {
518  data.U = I.template middleCols<3>(Inertia::LINEAR);
519 
520  // compute inverse
521 // data.Dinv.setIdentity();
522 // data.U.template middleRows<3>(Inertia::LINEAR).llt().solveInPlace(data.Dinv);
523  internal::PerformStYSInversion<Scalar>::run(data.U.template middleRows<3>(Inertia::LINEAR),data.Dinv);
524 
525  data.UDinv.template middleRows<3>(Inertia::LINEAR).setIdentity(); // can be put in data constructor
526  data.UDinv.template middleRows<3>(Inertia::ANGULAR).noalias() = data.U.template middleRows<3>(Inertia::ANGULAR) * data.Dinv;
527 
528  if (update_I)
529  {
530  Matrix6Like & I_ = PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like,I);
531  I_.template block<3,3>(Inertia::ANGULAR,Inertia::ANGULAR)
532  -= data.UDinv.template middleRows<3>(Inertia::ANGULAR) * I_.template block<3,3>(Inertia::LINEAR, Inertia::ANGULAR);
533  I_.template middleCols<3>(Inertia::LINEAR).setZero();
534  I_.template block<3,3>(Inertia::LINEAR,Inertia::ANGULAR).setZero();
535  }
536  }
537 
538  static std::string classname() { return std::string("JointModelTranslation"); }
539  std::string shortname() const { return classname(); }
540 
542  template<typename NewScalar>
544  {
546  ReturnType res;
547  res.setIndexes(id(),idx_q(),idx_v());
548  return res;
549  }
550 
551  }; // struct JointModelTranslationTpl
552 
553 } // namespace pinocchio
554 
555 #include <boost/type_traits.hpp>
556 
557 namespace boost
558 {
559  template<typename Scalar, int Options>
560  struct has_nothrow_constructor< ::pinocchio::JointModelTranslationTpl<Scalar,Options> >
561  : public integral_constant<bool,true> {};
562 
563  template<typename Scalar, int Options>
564  struct has_nothrow_copy< ::pinocchio::JointModelTranslationTpl<Scalar,Options> >
565  : public integral_constant<bool,true> {};
566 
567  template<typename Scalar, int Options>
568  struct has_nothrow_constructor< ::pinocchio::JointDataTranslationTpl<Scalar,Options> >
569  : public integral_constant<bool,true> {};
570 
571  template<typename Scalar, int Options>
572  struct has_nothrow_copy< ::pinocchio::JointDataTranslationTpl<Scalar,Options> >
573  : public integral_constant<bool,true> {};
574 }
575 
576 #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)