5 #ifndef __pinocchio_motion_dense_hpp__
6 #define __pinocchio_motion_dense_hpp__
8 #include "pinocchio/spatial/skew.hpp"
13 template<
typename Derived>
16 typedef typename SE3GroupAction< Derived >::ReturnType ReturnType;
19 template<
typename Derived,
typename MotionDerived>
22 typedef typename MotionAlgebraAction< Derived, MotionDerived >::ReturnType ReturnType;
25 template<
typename Derived>
30 MOTION_TYPEDEF_TPL(Derived);
39 Derived & setZero() { linear().setZero(); angular().setZero();
return derived(); }
40 Derived & setRandom() { linear().setRandom(); angular().setRandom();
return derived(); }
42 ActionMatrixType toActionMatrix_impl()
const
45 X.template block <3,3> (ANGULAR, ANGULAR) = X.template block <3,3> (LINEAR, LINEAR) =
skew(angular());
46 X.template block <3,3> (LINEAR, ANGULAR) =
skew(linear());
47 X.template block <3,3> (ANGULAR, LINEAR).setZero();
52 ActionMatrixType toDualActionMatrix_impl()
const
55 X.template block <3,3> (ANGULAR, ANGULAR) = X.template block <3,3> (LINEAR, LINEAR) =
skew(angular());
56 X.template block <3,3> (ANGULAR, LINEAR) =
skew(linear());
57 X.template block <3,3> (LINEAR, ANGULAR).setZero();
63 bool isEqual_impl(
const MotionDense<D2> & other)
const
64 {
return linear() == other.linear() && angular() == other.angular(); }
67 bool isEqual_impl(
const MotionBase<D2> & other)
const
68 {
return other.derived() == derived(); }
72 Derived & operator=(
const MotionDense<D2> & other)
74 linear() = other.linear();
75 angular() = other.angular();
80 Derived & operator=(
const MotionBase<D2> & other)
82 other.derived().setTo(derived());
87 Derived & operator=(
const Eigen::MatrixBase<V6> & v)
89 EIGEN_STATIC_ASSERT_VECTOR_ONLY(V6); assert(v.size() == 6);
90 linear() = v.template segment<3>(LINEAR);
91 angular() = v.template segment<3>(ANGULAR);
95 MotionPlain operator-()
const {
return derived().__opposite__(); }
97 MotionPlain operator+(
const MotionDense<M1> & v)
const {
return derived().__plus__(v.derived()); }
99 MotionPlain operator-(
const MotionDense<M1> & v)
const {
return derived().__minus__(v.derived()); }
101 template<
typename M1>
102 Derived & operator+=(
const MotionDense<M1> & v) {
return derived().__pequ__(v.derived()); }
103 template<
typename M1>
104 Derived & operator+=(
const MotionBase<M1> & v)
105 { v.derived().addTo(derived());
return derived(); }
107 template<
typename M1>
108 Derived & operator-=(
const MotionDense<M1> & v) {
return derived().__mequ__(v.derived()); }
110 MotionPlain __opposite__()
const {
return MotionPlain(-linear(),-angular()); }
112 template<
typename M1>
113 MotionPlain __plus__(
const MotionDense<M1> & v)
const
114 {
return MotionPlain(linear()+v.linear(), angular()+v.angular()); }
116 template<
typename M1>
117 MotionPlain __minus__(
const MotionDense<M1> & v)
const
118 {
return MotionPlain(linear()-v.linear(), angular()-v.angular()); }
120 template<
typename M1>
121 Derived & __pequ__(
const MotionDense<M1> & v)
122 { linear() += v.linear(); angular() += v.angular();
return derived(); }
124 template<
typename M1>
125 Derived & __mequ__(
const MotionDense<M1> & v)
126 { linear() -= v.linear(); angular() -= v.angular();
return derived(); }
128 template<
typename OtherScalar>
129 MotionPlain __mult__(
const OtherScalar & alpha)
const
130 {
return MotionPlain(alpha*linear(),alpha*angular()); }
132 template<
typename OtherScalar>
133 MotionPlain __div__(
const OtherScalar & alpha)
const
134 {
return derived().__mult__((OtherScalar)(1)/alpha); }
136 template<
typename F1>
137 Scalar dot(
const ForceBase<F1> & phi)
const
138 {
return phi.linear().dot(linear()) + phi.angular().dot(angular()); }
141 typename MotionAlgebraAction<D,Derived>::ReturnType cross_impl(
const D & d)
const
143 return d.motionAction(derived());
146 template<
typename M1,
typename M2>
147 void motionAction(
const MotionDense<M1> & v, MotionDense<M2> & mout)
const
149 mout.linear() = v.linear().cross(angular())+v.angular().cross(linear());
150 mout.angular() = v.angular().cross(angular());
153 template<
typename M1>
154 MotionPlain motionAction(
const MotionDense<M1> & v)
const
161 template<
typename M2>
162 bool isApprox(
const MotionDense<M2> & m2,
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
const
164 return derived().isApprox_impl(m2, prec);
167 template<
typename D2>
168 bool isApprox_impl(
const MotionDense<D2> & m2,
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
const
170 return linear().isApprox(m2.linear(), prec) && angular().isApprox(m2.angular(), prec);
173 bool isZero_impl(
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
const
175 return linear().isZero(prec) && angular().isZero(prec);
178 template<
typename S2,
int O2,
typename D2>
179 void se3Action_impl(
const SE3Tpl<S2,O2> & m, MotionDense<D2> & v)
const
181 v.angular().noalias() = m.rotation()*angular();
182 v.linear().noalias() = m.rotation()*linear() + m.translation().cross(v.angular());
185 template<
typename S2,
int O2>
186 typename SE3GroupAction<Derived>::ReturnType
187 se3Action_impl(
const SE3Tpl<S2,O2> & m)
const
189 typename SE3GroupAction<Derived>::ReturnType res;
190 se3Action_impl(m,res);
194 template<
typename S2,
int O2,
typename D2>
195 void se3ActionInverse_impl(
const SE3Tpl<S2,O2> & m, MotionDense<D2> & v)
const
197 v.linear().noalias() = m.rotation().transpose()*(linear()-m.translation().cross(angular()));
198 v.angular().noalias() = m.rotation().transpose()*angular();
201 template<
typename S2,
int O2>
202 typename SE3GroupAction<Derived>::ReturnType
203 se3ActionInverse_impl(
const SE3Tpl<S2,O2> & m)
const
205 typename SE3GroupAction<Derived>::ReturnType res;
206 se3ActionInverse_impl(m,res);
210 void disp_impl(std::ostream & os)
const
213 <<
" v = " << linear().transpose () << std::endl
214 <<
" w = " << angular().transpose () << std::endl;
218 MotionRefType
ref() {
return derived().ref(); }
223 template<
typename M1,
typename M2>
226 {
return v1.derived().cross(v2.derived()); }
228 template<
typename M1,
typename F1>
229 typename traits<F1>::ForcePlain operator^(
const MotionDense<M1> & v,
230 const ForceBase<F1> & f)
231 {
return v.derived().cross(f.derived()); }
233 template<
typename M1>
234 typename traits<M1>::MotionPlain
operator*(
const typename traits<M1>::Scalar alpha,
235 const MotionDense<M1> & v)
240 #endif // ifndef __pinocchio_motion_dense_hpp__