endeffectors.h

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#ifndef _XPP_STATES_ENDEFFECTORS_H_
#define _XPP_STATES_ENDEFFECTORS_H_
 
#include <deque>
#include <iostream>
#include <vector>
 
#include <xpp_states/state.h>
 
namespace xpp {
 
using EndeffectorID = uint;
 
template<typename T>
class Endeffectors {
public:
  using Container     = std::deque<T>;   // only to avoid faulty std::vector<bool>
  using EndeffectorsT = Endeffectors<T>;
 
  Endeffectors (int n_ee = 0);
  virtual ~Endeffectors () = default;
 
  void SetCount(int n_ee);
 
  void SetAll(const T& value);
 
  int GetEECount() const;
 
  std::vector<EndeffectorID> GetEEsOrdered() const;
 
  T& at(EndeffectorID ee);
 
  const T& at(EndeffectorID ee) const;
 
  const EndeffectorsT operator-(const EndeffectorsT& rhs) const;
  const EndeffectorsT operator/(double scalar) const;
 
  bool operator!=(const Endeffectors& other) const;
 
  Container ToImpl() const;
 
private:
  Container ee_;
};
 
// convenience typedefs, can also be extended to derived classes if desired.
using EndeffectorsPos  = Endeffectors<Eigen::Vector3d>;
using EndeffectorsVel  = Endeffectors<Eigen::Vector3d>;
using EndeffectorsAcc  = Endeffectors<Eigen::Vector3d>;
 
class EndeffectorsMotion : public Endeffectors<StateLin3d> {
public:
  Endeffectors<Vector3d> Get (MotionDerivative deriv) const
  {
    Endeffectors<Vector3d> val(GetEECount());
    for (auto ee : GetEEsOrdered())
      val.at(ee) = at(ee).GetByIndex(deriv);
 
    return val;
  }
};
 
 
class EndeffectorsContact : public Endeffectors<bool> {
public:
  EndeffectorsContact (int n_ee=0, bool in_contact=false)
      :Endeffectors(n_ee) { SetAll(in_contact);};
 
  int GetContactCount() const
  {
    int count = 0;
    for (auto ee : GetEEsOrdered())
      if (at(ee))
        count++;
 
    return count;
  }
};
 
 
// implementations
template<typename T>
Endeffectors<T>::Endeffectors (int n_ee)
{
  SetCount(n_ee);
}
 
template<typename T>
void
Endeffectors<T>::SetCount (int n_ee)
{
  ee_.resize(n_ee);
}
 
template<typename T>
void
Endeffectors<T>::SetAll (const T& value)
{
  std::fill(ee_.begin(), ee_.end(), value);
}
 
template<typename T>
T&
Endeffectors<T>::at (EndeffectorID idx)
{
  return ee_.at(idx);
}
 
template<typename T>
const T&
Endeffectors<T>::at (EndeffectorID idx) const
{
  return ee_.at(idx);
}
 
template<typename T>
int
Endeffectors<T>::GetEECount () const
{
  return ee_.size();
}
 
template<typename T>
typename Endeffectors<T>::Container
Endeffectors<T>::ToImpl () const
{
  return ee_;
}
 
template<typename T>
std::vector<EndeffectorID>
Endeffectors<T>::GetEEsOrdered () const
{
  std::vector<EndeffectorID> vec;
  for (int i=0; i<ee_.size(); ++i)
    vec.push_back(i);
 
  return vec;
}
 
template<typename T>
const typename Endeffectors<T>::EndeffectorsT
Endeffectors<T>::operator - (const EndeffectorsT& rhs) const
{
  EndeffectorsT result(ee_.size());
  for (auto i : GetEEsOrdered())
    result.at(i) = ee_.at(i) - rhs.at(i);
 
  return result;
}
 
template<typename T>
const typename Endeffectors<T>::EndeffectorsT
Endeffectors<T>::operator / (double scalar) const
{
  EndeffectorsT result(ee_.size());
  for (auto i : GetEEsOrdered())
    result.at(i) = ee_.at(i)/scalar;
 
  return result;
}
 
template <typename T>
std::ostream& operator<<(std::ostream& stream, Endeffectors<T> endeffectors)
{
  for (EndeffectorID ee : endeffectors.GetEEsOrdered())
    stream << endeffectors.at(ee) << ", ";
 
  return stream;
}
 
template<typename T>
bool
Endeffectors<T>::operator!=(const Endeffectors& other) const
{
  for (auto ee : GetEEsOrdered()) {
    if (ee_.at(ee) != other.at(ee))
      return true;
  }
  return false;
}
 
} /* namespace xpp */
 
#endif /* _XPP_STATES_ENDEFFECTORS_H_ */