pinocchio  2.6.3
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
liegroup-generic.hpp
1 //
2 // Copyright (c) 2018 CNRS
3 //
4 
5 #ifndef __pinocchio_lie_group_generic_hpp__
6 #define __pinocchio_lie_group_generic_hpp__
7 
8 #include "pinocchio/multibody/liegroup/liegroup-base.hpp"
9 #include "pinocchio/multibody/liegroup/liegroup-variant-visitors.hpp"
10 
11 namespace pinocchio
12 {
13  template<typename LieGroupCollection> struct LieGroupGenericTpl;
14 
15  template<typename LieGroupCollection>
16  struct traits< LieGroupGenericTpl<LieGroupCollection> >
17  {
18  typedef typename LieGroupCollection::Scalar Scalar;
19  enum {
20  Options = LieGroupCollection::Options,
21  NQ = Eigen::Dynamic,
22  NV = Eigen::Dynamic
23  };
24  };
25 
26  template<typename LieGroupCollection>
27  struct LieGroupGenericTpl
28  : LieGroupBase< LieGroupGenericTpl<LieGroupCollection> >, LieGroupCollection::LieGroupVariant
29  {
30  typedef typename LieGroupCollection::LieGroupVariant Base;
31  typedef typename LieGroupCollection::LieGroupVariant LieGroupVariant;
32 
33  typedef typename LieGroupCollection::Scalar Scalar;
34  enum { Options = LieGroupCollection::Options };
35 
36  template<typename LieGroupDerived>
37  LieGroupGenericTpl(const LieGroupBase<LieGroupDerived> & lg_base)
38  : Base(lg_base.derived())
39  {}
40 
41  template<typename LieGroup>
42  LieGroupGenericTpl(const LieGroupVariant & lg_variant)
43  : Base(lg_variant)
44  {}
45 
46  LieGroupGenericTpl & operator=(const LieGroupGenericTpl & other)
47  {
48  static_cast<Base&>(*this) = other.toVariant();
49  return *this;
50  }
51 
52  const LieGroupVariant & toVariant() const
53  { return static_cast<const LieGroupVariant &>(*this); }
54 
55  LieGroupVariant & toVariant()
56  { return static_cast<LieGroupVariant &>(*this); }
57 
58  bool isEqual_impl (const LieGroupGenericTpl& other) const
59  {
60  return boost::apply_visitor(visitor::LieGroupEqual<Scalar, Options>(), toVariant(), other.toVariant());
61  }
62 
63  int nq() const { return ::pinocchio::nq(*this); }
64  int nv() const { return ::pinocchio::nv(*this); }
65 
66  bool operator== (const LieGroupGenericTpl& other) const
67  {
68  return isEqual_impl(other);
69  }
70 
71  bool operator!= (const LieGroupGenericTpl& other) const
72  {
73  return this->isDifferent_impl(other);
74  }
75 
76  std::string name() const
77  {
78  return LieGroupNameVisitor::run(*this);
79  }
80  };
81 
82 }
83 
84 #endif // ifndef __pinocchio_lie_group_generic_hpp__
85 
pinocchio::LieGroupGenericTpl
Definition: fwd.hpp:12
pinocchio::LieGroupBase
Definition: liegroup-base.hpp:40
pinocchio::traits
Common traits structure to fully define base classes for CRTP.
Definition: fwd.hpp:44
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:24