5 #ifndef __pinocchio_multibody_liegroup_liegroup_operation_base_hpp__
6 #define __pinocchio_multibody_liegroup_liegroup_operation_base_hpp__
8 #include "pinocchio/multibody/liegroup/fwd.hpp"
14 #ifdef PINOCCHIO_WITH_CXX11_SUPPORT
15 constexpr
int SELF = 0;
20 #define PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,TYPENAME) \
21 typedef LieGroupBase<Derived> Base; \
22 typedef TYPENAME Base::Index Index; \
23 typedef TYPENAME traits<Derived>::Scalar Scalar; \
25 Options = traits<Derived>::Options, \
29 typedef TYPENAME Base::ConfigVector_t ConfigVector_t; \
30 typedef TYPENAME Base::TangentVector_t TangentVector_t; \
31 typedef TYPENAME Base::JacobianMatrix_t JacobianMatrix_t
33 #define PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE(Derived) \
34 PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,PINOCCHIO_MACRO_EMPTY_ARG)
36 #define PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE(Derived) \
37 PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
39 template<
typename Derived>
42 typedef Derived LieGroupDerived;
52 typedef Eigen::Matrix<Scalar,NQ,1,Options> ConfigVector_t;
53 typedef Eigen::Matrix<Scalar,NV,1,Options> TangentVector_t;
54 typedef Eigen::Matrix<Scalar,NV,NV,Options> JacobianMatrix_t;
67 template <
class ConfigIn_t,
class Tangent_t,
class ConfigOut_t>
68 void integrate(
const Eigen::MatrixBase<ConfigIn_t> & q,
69 const Eigen::MatrixBase<Tangent_t> & v,
70 const Eigen::MatrixBase<ConfigOut_t> & qout)
const;
84 template<
class Config_t,
class Jacobian_t>
86 const Eigen::MatrixBase<Jacobian_t> & J)
const;
101 template <ArgumentPosition arg,
class Config_t,
class Tangent_t,
class JacobianOut_t>
103 const Eigen::MatrixBase<Tangent_t> & v,
104 const Eigen::MatrixBase<JacobianOut_t> & J,
105 AssignmentOperatorType op = SETTO)
const
107 PINOCCHIO_STATIC_ASSERT(arg==ARG0||arg==ARG1, arg_SHOULD_BE_ARG0_OR_ARG1);
108 return dIntegrate(q.derived(),v.derived(),PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J),arg,op);
124 template<
class Config_t,
class Tangent_t,
class JacobianOut_t>
125 void dIntegrate(
const Eigen::MatrixBase<Config_t > & q,
126 const Eigen::MatrixBase<Tangent_t> & v,
127 const Eigen::MatrixBase<JacobianOut_t> & J,
129 const AssignmentOperatorType op = SETTO)
const;
143 template <
class Config_t,
class Tangent_t,
class JacobianOut_t>
145 const Eigen::MatrixBase<Tangent_t> & v,
146 const Eigen::MatrixBase<JacobianOut_t> & J,
147 const AssignmentOperatorType op = SETTO)
const;
149 template <
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
151 const Eigen::MatrixBase<Tangent_t> & v,
152 const Eigen::MatrixBase<JacobianIn_t> & Jin,
154 const Eigen::MatrixBase<JacobianOut_t> & Jout,
155 const AssignmentOperatorType op = SETTO)
const;
157 template <
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
159 const Eigen::MatrixBase<Tangent_t> & v,
161 const Eigen::MatrixBase<JacobianIn_t> & Jin,
162 const Eigen::MatrixBase<JacobianOut_t> & Jout,
163 const AssignmentOperatorType op = SETTO)
const;
177 template <
class Config_t,
class Tangent_t,
class JacobianOut_t>
179 const Eigen::MatrixBase<Tangent_t> & v,
180 const Eigen::MatrixBase<JacobianOut_t> & J,
181 const AssignmentOperatorType op = SETTO)
const;
183 template <
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
185 const Eigen::MatrixBase<Tangent_t> & v,
187 const Eigen::MatrixBase<JacobianIn_t> & Jin,
188 const Eigen::MatrixBase<JacobianOut_t> & Jout,
189 const AssignmentOperatorType op = SETTO)
const;
191 template <
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
193 const Eigen::MatrixBase<Tangent_t> & v,
194 const Eigen::MatrixBase<JacobianIn_t> & Jin,
196 const Eigen::MatrixBase<JacobianOut_t> & Jout,
197 const AssignmentOperatorType op = SETTO)
const;
219 template<
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
221 const Eigen::MatrixBase<Tangent_t> & v,
222 const Eigen::MatrixBase<JacobianIn_t> & Jin,
223 const Eigen::MatrixBase<JacobianOut_t> & Jout,
244 template <
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
246 const Eigen::MatrixBase<Tangent_t> & v,
247 const Eigen::MatrixBase<JacobianIn_t> & Jin,
248 const Eigen::MatrixBase<JacobianOut_t> & Jout)
const;
267 template <
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
269 const Eigen::MatrixBase<Tangent_t> & v,
270 const Eigen::MatrixBase<JacobianIn_t> & Jin,
271 const Eigen::MatrixBase<JacobianOut_t> & Jout)
const;
291 template<
class Config_t,
class Tangent_t,
class Jacobian_t>
293 const Eigen::MatrixBase<Tangent_t> & v,
294 const Eigen::MatrixBase<Jacobian_t> & J,
314 template <
class Config_t,
class Tangent_t,
class Jacobian_t>
316 const Eigen::MatrixBase<Tangent_t> & v,
317 const Eigen::MatrixBase<Jacobian_t> & J)
const;
335 template <
class Config_t,
class Tangent_t,
class Jacobian_t>
337 const Eigen::MatrixBase<Tangent_t> & v,
338 const Eigen::MatrixBase<Jacobian_t> & J)
const;
349 template <
class ConfigL_t,
class ConfigR_t,
class ConfigOut_t>
350 void interpolate(
const Eigen::MatrixBase<ConfigL_t> & q0,
351 const Eigen::MatrixBase<ConfigR_t> & q1,
353 const Eigen::MatrixBase<ConfigOut_t> & qout)
const;
364 template <
class Config_t>
365 void normalize(
const Eigen::MatrixBase<Config_t> & qout)
const;
375 template <
class Config_t>
376 bool isNormalized(
const Eigen::MatrixBase<Config_t> & qin,
377 const Scalar& prec = Eigen::NumTraits<Scalar>::dummy_precision())
const;
387 template <
class Config_t>
388 void random(
const Eigen::MatrixBase<Config_t> & qout)
const;
399 template <
class ConfigL_t,
class ConfigR_t,
class ConfigOut_t>
401 const Eigen::MatrixBase<ConfigR_t> & upper_pos_limit,
402 const Eigen::MatrixBase<ConfigOut_t> & qout)
const;
414 template <
class ConfigL_t,
class ConfigR_t,
class Tangent_t>
415 void difference(
const Eigen::MatrixBase<ConfigL_t> & q0,
416 const Eigen::MatrixBase<ConfigR_t> & q1,
417 const Eigen::MatrixBase<Tangent_t> & v)
const;
439 template <ArgumentPosition arg,
class ConfigL_t,
class ConfigR_t,
class JacobianOut_t>
440 void dDifference(
const Eigen::MatrixBase<ConfigL_t> & q0,
441 const Eigen::MatrixBase<ConfigR_t> & q1,
442 const Eigen::MatrixBase<JacobianOut_t> & J)
const;
455 template<
class ConfigL_t,
class ConfigR_t,
class JacobianOut_t>
456 void dDifference(
const Eigen::MatrixBase<ConfigL_t> & q0,
457 const Eigen::MatrixBase<ConfigR_t> & q1,
458 const Eigen::MatrixBase<JacobianOut_t> & J,
461 template<ArgumentPosition arg,
class ConfigL_t,
class ConfigR_t,
class JacobianIn_t,
class JacobianOut_t>
462 void dDifference(
const Eigen::MatrixBase<ConfigL_t> & q0,
463 const Eigen::MatrixBase<ConfigR_t> & q1,
464 const Eigen::MatrixBase<JacobianIn_t> & Jin,
466 const Eigen::MatrixBase<JacobianOut_t> & Jout,
467 const AssignmentOperatorType op = SETTO)
const;
469 template<ArgumentPosition arg,
class ConfigL_t,
class ConfigR_t,
class JacobianIn_t,
class JacobianOut_t>
470 void dDifference(
const Eigen::MatrixBase<ConfigL_t> & q0,
471 const Eigen::MatrixBase<ConfigR_t> & q1,
473 const Eigen::MatrixBase<JacobianIn_t> & Jin,
474 const Eigen::MatrixBase<JacobianOut_t> & Jout,
475 const AssignmentOperatorType op = SETTO)
const;
485 template <
class ConfigL_t,
class ConfigR_t>
487 const Eigen::MatrixBase<ConfigR_t> & q1)
const;
497 template <
class ConfigL_t,
class ConfigR_t>
498 Scalar
distance(
const Eigen::MatrixBase<ConfigL_t> & q0,
499 const Eigen::MatrixBase<ConfigR_t> & q1)
const;
509 template <
class ConfigL_t,
class ConfigR_t>
511 const Eigen::MatrixBase<ConfigR_t> & q1,
512 const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
const;
516 return derived().isEqual_impl(other.derived());
521 return derived().isDifferent_impl(other.derived());
528 template <
class Config_t,
class Tangent_t>
529 ConfigVector_t
integrate(
const Eigen::MatrixBase<Config_t> & q,
530 const Eigen::MatrixBase<Tangent_t> & v)
const ;
532 template <
class ConfigL_t,
class ConfigR_t>
533 ConfigVector_t
interpolate(
const Eigen::MatrixBase<ConfigL_t> & q0,
534 const Eigen::MatrixBase<ConfigR_t> & q1,
535 const Scalar& u)
const;
537 ConfigVector_t
random()
const;
539 template <
class ConfigL_t,
class ConfigR_t>
541 (
const Eigen::MatrixBase<ConfigL_t> & lower_pos_limit,
542 const Eigen::MatrixBase<ConfigR_t> & upper_pos_limit)
const;
544 template <
class ConfigL_t,
class ConfigR_t>
545 TangentVector_t
difference(
const Eigen::MatrixBase<ConfigL_t> & q0,
546 const Eigen::MatrixBase<ConfigR_t> & q1)
const;
553 template <
class Config_t,
class Tangent_t,
class JacobianIn_t,
class JacobianOut_t>
554 void dIntegrate_product_impl(
const Config_t & q,
556 const JacobianIn_t & Jin,
557 JacobianOut_t & Jout,
558 bool dIntegrateOnTheLeft,
560 const AssignmentOperatorType op)
const;
562 template <ArgumentPosition arg,
class ConfigL_t,
class ConfigR_t,
class JacobianIn_t,
class JacobianOut_t>
563 void dDifference_product_impl(
const ConfigL_t & q0,
564 const ConfigR_t & q1,
565 const JacobianIn_t & Jin,
566 JacobianOut_t & Jout,
567 bool dDifferenceOnTheLeft,
568 const AssignmentOperatorType op)
const;
570 template <
class ConfigL_t,
class ConfigR_t,
class ConfigOut_t>
571 void interpolate_impl(
const Eigen::MatrixBase<ConfigL_t> & q0,
572 const Eigen::MatrixBase<ConfigR_t> & q1,
574 const Eigen::MatrixBase<ConfigOut_t> & qout)
const;
576 template <
class Config_t>
577 void normalize_impl(
const Eigen::MatrixBase<Config_t> & qout)
const;
579 template <
class Config_t>
580 bool isNormalized_impl(
const Eigen::MatrixBase<Config_t> & qin,
581 const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
const;
583 template <
class ConfigL_t,
class ConfigR_t>
584 Scalar squaredDistance_impl(
const Eigen::MatrixBase<ConfigL_t> & q0,
585 const Eigen::MatrixBase<ConfigR_t> & q1)
const;
587 template <
class ConfigL_t,
class ConfigR_t>
588 bool isSameConfiguration_impl(
const Eigen::MatrixBase<ConfigL_t> & q0,
589 const Eigen::MatrixBase<ConfigR_t> & q1,
590 const Scalar & prec)
const;
597 return !derived().isEqual_impl(other.derived());
608 ConfigVector_t
neutral ()
const;
611 std::string
name ()
const;
615 return static_cast <Derived&
> (*this);
618 const Derived& derived ()
const
620 return static_cast <const Derived&
> (*this);
638 #include "pinocchio/multibody/liegroup/liegroup-base.hxx"
640 #endif // ifndef __pinocchio_multibody_liegroup_liegroup_operation_base_hpp__