6 #ifndef __pinocchio_joint_spherical_hpp__ 7 #define __pinocchio_joint_spherical_hpp__ 9 #include "pinocchio/macros.hpp" 10 #include "pinocchio/multibody/joint/joint-base.hpp" 11 #include "pinocchio/multibody/constraint.hpp" 12 #include "pinocchio/math/sincos.hpp" 13 #include "pinocchio/spatial/inertia.hpp" 14 #include "pinocchio/spatial/skew.hpp" 22 template<
typename Scalar,
int Options>
28 template<
typename Scalar,
int Options,
typename MotionDerived>
34 template<
typename _Scalar,
int _Options>
39 typedef Eigen::Matrix<Scalar,3,1,Options>
Vector3;
40 typedef Eigen::Matrix<Scalar,6,1,Options>
Vector6;
41 typedef Eigen::Matrix<Scalar,4,4,Options>
Matrix4;
42 typedef Eigen::Matrix<Scalar,6,6,Options>
Matrix6;
59 template<
typename _Scalar,
int _Options>
61 :
MotionBase< MotionSphericalTpl<_Scalar,_Options> >
63 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
69 template<
typename Vector3Like>
74 Vector3 & operator() () {
return m_w; }
75 const Vector3 & operator() ()
const {
return m_w; }
77 inline PlainReturnType
plain()
const 79 return PlainReturnType(PlainReturnType::Vector3::Zero(), m_w);
82 template<
typename MotionDerived>
88 template<
typename Derived>
102 return m_w == other.
m_w;
105 template<
typename MotionDerived>
111 template<
typename S2,
int O2,
typename D2>
121 template<
typename S2,
int O2>
125 se3Action_impl(m,res);
129 template<
typename S2,
int O2,
typename D2>
142 template<
typename S2,
int O2>
146 se3ActionInverse_impl(m,res);
150 template<
typename M1,
typename M2>
160 template<
typename M1>
168 const Vector3 &
angular()
const {
return m_w; }
176 template<
typename S1,
int O1,
typename MotionDerived>
177 inline typename MotionDerived::MotionPlain
185 template<
typename _Scalar,
int _Options>
201 template<
typename _Scalar,
int _Options>
203 :
public ConstraintBase< ConstraintSphericalTpl<_Scalar,_Options> >
205 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
215 template<
typename Vector3Like>
216 JointMotion
__mult__(
const Eigen::MatrixBase<Vector3Like> &
w)
const 218 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like,3);
219 return JointMotion(w);
224 template<
typename Derived>
230 template<
typename MatrixDerived>
232 operator*(
const Eigen::MatrixBase<MatrixDerived> & F)
const 235 return F.derived().template middleRows<3>(Inertia::ANGULAR);
244 S.template block <3,3>(LINEAR,0).
setZero();
245 S.template block <3,3>(ANGULAR,0).setIdentity();
249 template<
typename S1,
int O1>
252 Eigen::Matrix<S1,6,3,O1> X_subspace;
254 X_subspace.template middleRows<3>(ANGULAR) = m.
rotation();
259 template<
typename S1,
int O1>
262 Eigen::Matrix<S1,6,3,O1> X_subspace;
267 X_subspace.template middleRows<3>(LINEAR).noalias()
268 = m.
rotation().transpose() * X_subspace.template middleRows<3>(ANGULAR);
269 X_subspace.template middleRows<3>(ANGULAR) = m.
rotation().transpose();
274 template<
typename MotionDerived>
277 const typename MotionDerived::ConstLinearType
v = m.
linear();
278 const typename MotionDerived::ConstAngularType
w = m.
angular();
281 skew(v,res.template middleRows<3>(LINEAR));
282 skew(w,res.template middleRows<3>(ANGULAR));
291 template<
typename MotionDerived,
typename S2,
int O2>
292 inline typename MotionDerived::MotionPlain
300 template<
typename S1,
int O1,
typename S2,
int O2>
301 inline Eigen::Matrix<S2,6,3,O2>
307 Eigen::Matrix<S2,6,3,O2>
M;
310 M.template block<3,3>(Inertia::ANGULAR,0) = (Y.
inertia() -
typename Symmetric3::AlphaSkewSquare(Y.
mass(), Y.
lever())).matrix();
315 template<
typename M6Like,
typename S2,
int O2>
321 return Y.
derived().template middleCols<3>(Constraint::ANGULAR);
324 template<
typename S1,
int O1>
328 template<
typename S1,
int O1,
typename MotionDerived>
334 template<
typename _Scalar,
int _Options>
351 typedef Eigen::Matrix<Scalar,6,NV,Options>
U_t;
352 typedef Eigen::Matrix<Scalar,NV,NV,Options>
D_t;
353 typedef Eigen::Matrix<Scalar,6,NV,Options>
UD_t;
361 template<
typename Scalar,
int Options>
365 template<
typename Scalar,
int Options>
369 template<
typename _Scalar,
int _Options>
372 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
389 : M(Transformation_t::Identity())
390 , v(Motion_t::Vector3::Zero())
393 , UDinv(UD_t::Zero())
396 static std::string
classname() {
return std::string(
"JointDataSpherical"); }
402 template<
typename _Scalar,
int _Options>
404 :
public JointModelBase< JointModelSphericalTpl<_Scalar,_Options> >
406 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
417 JointDataDerived
createData()
const {
return JointDataDerived(); }
421 return {
false,
false,
false,
false};
426 return {
false,
false,
false};
429 template<
typename ConfigVectorLike>
430 inline void forwardKinematics(Transformation_t & M,
const Eigen::MatrixBase<ConfigVectorLike> & q_joint)
const 433 EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigVector_t,ConfigVectorLike);
434 typedef typename Eigen::Quaternion<Scalar,PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorLike)::Options> Quaternion;
435 typedef Eigen::Map<const Quaternion> ConstQuaternionMap;
437 ConstQuaternionMap
quat(q_joint.derived().data());
439 assert(math::fabs(static_cast<Scalar>(
quat.coeffs().squaredNorm()-1)) <= 1e-4);
441 M.rotation(
quat.matrix());
442 M.translation().setZero();
445 template<
typename QuaternionDerived>
447 const typename Eigen::QuaternionBase<QuaternionDerived> & quat)
const 449 data.M.rotation(quat.matrix());
452 template<
typename ConfigVector>
455 const typename Eigen::PlainObjectBase<ConfigVector> &
qs)
const 457 typedef typename Eigen::Quaternion<typename ConfigVector::Scalar,ConfigVector::Options> Quaternion;
458 typedef Eigen::Map<const Quaternion> ConstQuaternionMap;
460 ConstQuaternionMap
quat(qs.template segment<NQ>(
idx_q()).
data());
464 template<
typename ConfigVector>
467 const typename Eigen::MatrixBase<ConfigVector> &
qs)
const 469 typedef typename Eigen::Quaternion<Scalar,Options> Quaternion;
471 const Quaternion
quat(qs.template segment<NQ>(
idx_q()));
475 template<
typename ConfigVector,
typename TangentVector>
477 const typename Eigen::MatrixBase<ConfigVector> &
qs,
478 const typename Eigen::MatrixBase<TangentVector> & vs)
const 480 calc(data,qs.derived());
482 data.v.angular() = vs.template segment<NV>(
idx_v());
485 template<
typename Matrix6Like>
487 const Eigen::MatrixBase<Matrix6Like> & I,
488 const bool update_I)
const 490 data.U = I.template block<6,3>(0,Inertia::ANGULAR);
497 data.UDinv.template middleRows<3>(Inertia::ANGULAR).setIdentity();
498 data.UDinv.template middleRows<3>(Inertia::LINEAR).noalias() = data.U.template block<3,3>(Inertia::LINEAR, 0) * data.Dinv;
503 I_.template block<3,3>(Inertia::LINEAR,Inertia::LINEAR)
504 -= data.UDinv.template middleRows<3>(Inertia::LINEAR) * I_.template block<3,3> (Inertia::ANGULAR, Inertia::LINEAR);
505 I_.template block<6,3>(0,Inertia::ANGULAR).
setZero();
506 I_.template block<3,3>(Inertia::ANGULAR,Inertia::LINEAR).
setZero();
510 static std::string
classname() {
return std::string(
"JointModelSpherical"); }
514 template<
typename NewScalar>
527 #include <boost/type_traits.hpp> 531 template<
typename Scalar,
int Options>
533 :
public integral_constant<bool,true> {};
535 template<
typename Scalar,
int Options>
537 :
public integral_constant<bool,true> {};
539 template<
typename Scalar,
int Options>
541 :
public integral_constant<bool,true> {};
543 template<
typename Scalar,
int Options>
545 :
public integral_constant<bool,true> {};
548 #endif // ifndef __pinocchio_joint_spherical_hpp__ JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
Eigen::Matrix< S1, 6, 3, O1 > ReturnType
InertiaTpl< double, 0 > Inertia
const Symmetric3 & inertia() const
Eigen::Matrix< S1, 6, 3, O1 > se3ActionInverse(const SE3Tpl< S1, O1 > &m) const
MotionSphericalTpl< Scalar, Options > JointMotion
Eigen::Matrix< S1, 6, 3, O1 > se3Action(const SE3Tpl< S1, O1 > &m) const
Eigen::Matrix< Scalar, 6, 1, Options > Vector6
EIGEN_DONT_INLINE void calc(JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs) const
void forwardKinematics(Transformation_t &M, const Eigen::MatrixBase< ConfigVectorLike > &q_joint) const
int idx_q(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space...
Eigen::Matrix< Scalar, NV, 1, Options > TangentVector_t
bool isEqual(const ConstraintSphericalTpl &) const
MotionTpl< Scalar, Options > ReturnType
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...
MotionSphericalTpl(const Eigen::MatrixBase< Vector3Like > &w)
Eigen::Matrix< S1, 6, 3, O1 > ReturnType
JointModelBase< JointModelSphericalTpl > Base
Eigen::Matrix< Scalar, 6, 3, Options > DenseBase
MotionSphericalTpl __plus__(const MotionSphericalTpl &other) const
Return type of the ation of a Motion onto an object of type D.
#define MOTION_TYPEDEF_TPL(Derived)
PINOCCHIO_EIGEN_REF_CONST_TYPE(Matrix6Like) operator*(const Eigen
Matrix4 HomogeneousMatrixType
void calc_aba(JointDataDerived &data, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I) const
JointMotion __mult__(const Eigen::MatrixBase< Vector3Like > &w) const
const Vector3 & lever() const
JointIndex id(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdVisitor to get the index of the joint in the kinematic chain...
#define PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR
void calc(JointDataDerived &data, const typename Eigen::QuaternionBase< QuaternionDerived > &quat) const
MotionPlain PlainReturnType
PlainReturnType plain() const
Eigen::Matrix< Scalar, 6, NV, Options > U_t
static std::string classname()
Eigen::Matrix< Scalar, NV, NV, Options > D_t
ConstLinearType linear() const
JointModelSphericalTpl< Scalar, Options > JointModelDerived
ConstAngularType angular() const
Return the angular part of the force vector.
#define PINOCCHIO_EIGEN_CONST_CAST(TYPE, OBJ)
Macro for an automatic const_cast.
bool isEqual_impl(const MotionSphericalTpl &other) const
JointSphericalTpl< Scalar, Options > JointDerived
MotionDerived::MotionPlain operator+(const MotionPlanarTpl< Scalar, Options > &m1, const MotionDense< MotionDerived > &m2)
ConstAngularType angular() const
JointDataDerived createData() const
#define PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE
Eigen::Matrix< Scalar, 4, 4, Options > Matrix4
DenseBase MatrixReturnType
EIGEN_DONT_INLINE void calc(JointDataDerived &data, const typename Eigen::PlainObjectBase< ConfigVector > &qs) const
Eigen::Matrix< Scalar, 6, NV, Options > UD_t
void cross(const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3xIn > &Min, const Eigen::MatrixBase< Matrix3xOut > &Mout)
Applies the cross product onto the columns of M.
#define PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(Joint)
std::string shortname() const
Eigen::Matrix< Scalar, 3, 1, Options > Vector3
void motionAction(const MotionDense< M1 > &v, MotionDense< M2 > &mout) const
MotionSphericalTpl< double > MotionSpherical
const DenseBase ConstMatrixReturnType
static void cross(const Eigen::MatrixBase< V3_in > &vin, const Eigen::MatrixBase< V3_out > &vout)
MotionTpl< Scalar, Options > ReturnType
PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelFreeFlyerTpl)
MotionTpl< Scalar, Options > MotionPlain
PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef Eigen::Matrix< Scalar, NQ, 1, Options > ConfigVector_t
#define PINOCCHIO_EIGEN_REF_TYPE(D)
MotionPlain se3ActionInverse_impl(const SE3Tpl< S2, O2 > &m) const
bool isEqual_impl(const MotionDense< MotionDerived > &other) const
ConstAngularRef rotation() const
Eigen::Matrix< Scalar, 6, 6, Options > Matrix6
PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR Constraint_t S
Main pinocchio namespace.
const SizeDepType< 3 >::RowsReturn< MatrixDerived >::ConstType operator*(const Eigen::MatrixBase< MatrixDerived > &F) const
void addTo(MotionDense< MotionDerived > &other) const
void se3Action_impl(const SE3Tpl< S2, O2 > &m, MotionDense< D2 > &v) const
MotionSphericalTpl< Scalar, Options > Motion_t
void setIndexes(JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointIndex id, int q, int v)
Visit a JointModelTpl through JointSetIndexesVisitor to set the indexes of the joint in the kinematic...
Eigen::Matrix< Scalar, 3, 1, Options > JointForce
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 ( )
void setZero(std::vector< MatType, Eigen::aligned_allocator< MatType > > &Ms)
const std::vector< bool > hasConfigurationLimitInTangent() const
void calc(JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs, const typename Eigen::MatrixBase< TangentVector > &vs) const
DenseBase motionAction(const MotionDense< MotionDerived > &m) const
Common traits structure to fully define base classes for CRTP.
Symmetric3Tpl< double, 0 > Symmetric3
JointModelSphericalTpl< NewScalar, Options > cast() const
JointDataSphericalTpl< Scalar, Options > JointDataDerived
void se3ActionInverse_impl(const SE3Tpl< S2, O2 > &m, MotionDense< D2 > &v) const
const Vector3 ConstAngularType
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...
MotionPlain se3Action_impl(const SE3Tpl< S2, O2 > &m) const
#define PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(DERIVED)
const Vector3 ConstLinearType
std::string shortname() const
ConstraintSphericalTpl< Scalar, Options > Constraint_t
const Vector3 & angular() const
static void motionAction(const MotionDense< MotionDerived > &v, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
Action of a motion on a set of forces, represented by a 6xN matrix whose each column represent a spat...
MotionPlain motionAction(const MotionDense< M1 > &v) const
JointSphericalTpl< Scalar, Options > JointDerived
MotionDerived::MotionPlain operator^(const MotionDense< MotionDerived > &m1, const MotionPlanarTpl< S2, O2 > &m2)
DenseBase matrix_impl() const
TransposeConst transpose() const
static std::string classname()
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Derived & derived()
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointSphericalTpl< _Scalar, _Options > JointDerived
void setTo(MotionDense< Derived > &other) const
const std::vector< bool > hasConfigurationLimit() const
SE3Tpl< Scalar, Options > Transformation_t
MultiplicationOp< InertiaTpl< Scalar, Options >, ConstraintDerived >::ReturnType operator*(const InertiaTpl< Scalar, Options > &Y, const ConstraintBase< ConstraintDerived > &constraint)
.
MotionZeroTpl< Scalar, Options > Bias_t
ConstLinearRef translation() const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointSphericalTpl< _Scalar, _Options > JointDerived
#define PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(Joint)