eff_position.cpp

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#include <exotica_core_task_maps/eff_position.h>

REGISTER_TASKMAP_TYPE("EffPosition", exotica::EffPosition);

namespace exotica
{
void EffPosition::Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi)
{
    if (phi.rows() != kinematics[0].Phi.rows() * 3) ThrowNamed("Wrong size of Phi!");
    for (int i = 0; i < kinematics[0].Phi.rows(); ++i)
    {
        phi.segment<3>(i * 3) = Eigen::Map<Eigen::Vector3d>(kinematics[0].Phi(i).p.data);
    }
}

void EffPosition::Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian)
{
    if (phi.rows() != kinematics[0].Phi.rows() * 3) ThrowNamed("Wrong size of Phi!");
    if (jacobian.rows() != kinematics[0].jacobian.rows() * 3 || jacobian.cols() != kinematics[0].jacobian(0).data.cols()) ThrowNamed("Wrong size of jacobian! " << kinematics[0].jacobian(0).data.cols());
    for (int i = 0; i < kinematics[0].Phi.rows(); ++i)
    {
        phi.segment<3>(i * 3) = Eigen::Map<Eigen::Vector3d>(kinematics[0].Phi(i).p.data);
        jacobian.middleRows<3>(i * 3) = kinematics[0].jacobian[i].data.topRows<3>();
    }
}

void EffPosition::Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian)
{
    if (phi.rows() != kinematics[0].Phi.rows() * 3) ThrowNamed("Wrong size of Phi!");
    if (jacobian.rows() != kinematics[0].jacobian.rows() * 3 || jacobian.cols() != kinematics[0].jacobian(0).data.cols()) ThrowNamed("Wrong size of jacobian! " << kinematics[0].jacobian(0).data.cols());
    for (int i = 0; i < kinematics[0].Phi.rows(); ++i)
    {
        phi.segment<3>(i * 3) = Eigen::Map<Eigen::Vector3d>(kinematics[0].Phi(i).p.data);
        jacobian.middleRows<3>(i * 3) = kinematics[0].jacobian[i].data.topRows<3>();

        for (int j = 0; j < 3; ++j)
        {
            hessian(i * 3 + j).block(0, 0, jacobian.cols(), jacobian.cols()) = kinematics[0].hessian[i](j);
        }
    }
}

int EffPosition::TaskSpaceDim()
{
    return kinematics[0].Phi.rows() * 3;
}
}  // namespace exotica