eff_position_xy.cpp

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#include <exotica_core_task_maps/eff_position_xy.h>

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

namespace exotica
{
void EffPositionXY::Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi)
{
    if (phi.rows() != kinematics[0].Phi.rows() * 2) ThrowNamed("Wrong size of Phi!");
    for (int i = 0; i < kinematics[0].Phi.rows(); ++i)
    {
        phi(i * 2) = kinematics[0].Phi(i).p[0];
        phi(i * 2 + 1) = kinematics[0].Phi(i).p[1];
    }
}

void EffPositionXY::Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian)
{
    if (phi.rows() != kinematics[0].Phi.rows() * 2) ThrowNamed("Wrong size of Phi!");
    if (jacobian.rows() != kinematics[0].jacobian.rows() * 2 || 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(i * 2) = kinematics[0].Phi(i).p[0];
        phi(i * 2 + 1) = kinematics[0].Phi(i).p[1];
        jacobian.middleRows<2>(i * 2) = kinematics[0].jacobian[i].data.topRows<2>();
    }
}

void EffPositionXY::Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian)
{
    if (phi.rows() != kinematics[0].Phi.rows() * 2) ThrowNamed("Wrong size of Phi!");
    if (jacobian.rows() != kinematics[0].jacobian.rows() * 2 || 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(i * 2) = kinematics[0].Phi(i).p[0];
        phi(i * 2 + 1) = kinematics[0].Phi(i).p[1];
        jacobian.middleRows<2>(i * 2) = kinematics[0].jacobian[i].data.topRows<2>();

        for (int j = 0; j < 2; ++j)
        {
            hessian(i * 2 + j).block(0, 0, jacobian.cols(), jacobian.cols()) = kinematics[0].hessian[i](j);
        }
    }
}

int EffPositionXY::TaskSpaceDim()
{
    return kinematics[0].Phi.rows() * 2;
}
}  // namespace exotica