hpp-pinocchio 4.14.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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liegroup.hh
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1// Copyright (c) 2017, Joseph Mirabel
2// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
7// met:
8//
9// 1. Redistributions of source code must retain the above copyright
10// notice, this list of conditions and the following disclaimer.
11//
12// 2. Redistributions in binary form must reproduce the above copyright
13// notice, this list of conditions and the following disclaimer in the
14// documentation and/or other materials provided with the distribution.
15//
16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27// DAMAGE.
28
29#ifndef HPP_PINOCCHIO_LIEGROUP_HH
30#define HPP_PINOCCHIO_LIEGROUP_HH
31
32#include <pinocchio/multibody/joint/fwd.hpp>
33// #include <pinocchio/multibody/liegroup/liegroup.hpp>
34
40
41namespace hpp {
42namespace pinocchio {
43typedef ::pinocchio::JointModelCompositeTpl<value_type, 0, JointCollectionTpl>
45
53 template <typename JointModel>
54 struct operation {};
55};
58
66 template <typename JointModel>
67 struct operation {};
68};
69
71//---------------- RnxSOnLieGroupMap -------------------------------//
72// JointModelRevolute, JointModelRevoluteUnbounded, JointModelRevoluteUnaligned,
73// JointModelRevoluteUnboundedUnaligned
74template <typename Scalar, int Options, int Axis>
76 ::pinocchio::JointModelRevoluteTpl<Scalar, Options, Axis> > {
78};
79template <typename Scalar, int Options, int Axis>
80struct RnxSOnLieGroupMap::operation<
81 ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar, Options, Axis> > {
82 typedef liegroup::SpecialOrthogonalOperation<2> type;
83};
84template <typename Scalar, int Options>
85struct RnxSOnLieGroupMap::operation<
86 ::pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> > {
87 typedef liegroup::VectorSpaceOperation<1, true> type;
88};
89#if PINOCCHIO_VERSION_AT_LEAST(2, 1, 5)
90template <typename Scalar, int Options>
91struct RnxSOnLieGroupMap::operation<
92 ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> > {
93 typedef liegroup::SpecialOrthogonalOperation<2> type;
94};
95#endif
96
97// JointModelPrismaticTpl, JointModelPrismaticUnaligned, JointModelTranslation
98template <typename Scalar, int Options, int Axis>
99struct RnxSOnLieGroupMap::operation<
100 ::pinocchio::JointModelPrismaticTpl<Scalar, Options, Axis> > {
101 typedef liegroup::VectorSpaceOperation<1, false> type;
102};
103template <typename Scalar, int Options>
104struct RnxSOnLieGroupMap::operation<
105 ::pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> > {
106 typedef liegroup::VectorSpaceOperation<1, false> type;
107};
108template <typename Scalar, int Options>
109struct RnxSOnLieGroupMap::operation<
110 ::pinocchio::JointModelTranslationTpl<Scalar, Options> > {
111 typedef liegroup::VectorSpaceOperation<3, false> type;
112};
113
114// JointModelSpherical, JointModelSphericalZYX,
115template <typename Scalar, int Options>
116struct RnxSOnLieGroupMap::operation<
117 ::pinocchio::JointModelSphericalTpl<Scalar, Options> > {
118 typedef liegroup::SpecialOrthogonalOperation<3> type;
119};
120template <typename Scalar, int Options>
121struct RnxSOnLieGroupMap::operation<
122 ::pinocchio::JointModelSphericalZYXTpl<Scalar, Options> > {
123 typedef liegroup::VectorSpaceOperation<3, true> type;
124};
125
126// JointModelFreeFlyer, JointModelPlanar
127template <typename Scalar, int Options>
128struct RnxSOnLieGroupMap::operation<
129 ::pinocchio::JointModelFreeFlyerTpl<Scalar, Options> > {
130 typedef liegroup::CartesianProductOperation<
131 liegroup::VectorSpaceOperation<3, false>,
132 liegroup::SpecialOrthogonalOperation<3> >
133 type;
134};
135template <typename Scalar, int Options>
136struct RnxSOnLieGroupMap::operation<
137 ::pinocchio::JointModelPlanarTpl<Scalar, Options> > {
138 typedef liegroup::CartesianProductOperation<
139 liegroup::VectorSpaceOperation<2, false>,
140 liegroup::SpecialOrthogonalOperation<2> >
141 type;
142};
143
144//---------------- DefaultLieGroupMap ------------------------------------//
145
146// JointModelRevolute, JointModelRevoluteUnbounded, JointModelRevoluteUnaligned,
147// JointModelRevoluteUnboundedUnaligned
148template <typename Scalar, int Options, int Axis>
149struct DefaultLieGroupMap::operation<
150 ::pinocchio::JointModelRevoluteTpl<Scalar, Options, Axis> > {
151 typedef liegroup::VectorSpaceOperation<1, true> type;
152};
153template <typename Scalar, int Options, int Axis>
154struct DefaultLieGroupMap::operation<
155 ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar, Options, Axis> > {
156 typedef liegroup::SpecialOrthogonalOperation<2> type;
157};
158template <typename Scalar, int Options>
159struct DefaultLieGroupMap::operation<
160 ::pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> > {
161 typedef liegroup::VectorSpaceOperation<1, true> type;
162};
163#if PINOCCHIO_VERSION_AT_LEAST(2, 1, 5)
164template <typename Scalar, int Options>
165struct DefaultLieGroupMap::operation<
166 ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> > {
167 typedef liegroup::SpecialOrthogonalOperation<2> type;
168};
169#endif
170
171// JointModelPrismaticTpl, JointModelPrismaticUnaligned, JointModelTranslation
172template <typename Scalar, int Options, int Axis>
173struct DefaultLieGroupMap::operation<
174 ::pinocchio::JointModelPrismaticTpl<Scalar, Options, Axis> > {
175 typedef liegroup::VectorSpaceOperation<1, false> type;
176};
177template <typename Scalar, int Options>
178struct DefaultLieGroupMap::operation<
179 ::pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> > {
180 typedef liegroup::VectorSpaceOperation<1, false> type;
181};
182template <typename Scalar, int Options>
183struct DefaultLieGroupMap::operation<
184 ::pinocchio::JointModelTranslationTpl<Scalar, Options> > {
185 typedef liegroup::VectorSpaceOperation<3, false> type;
186};
187
188// JointModelSpherical, JointModelSphericalZYX,
189template <typename Scalar, int Options>
190struct DefaultLieGroupMap::operation<
191 ::pinocchio::JointModelSphericalTpl<Scalar, Options> > {
192 typedef liegroup::SpecialOrthogonalOperation<3> type;
193};
194template <typename Scalar, int Options>
195struct DefaultLieGroupMap::operation<
196 ::pinocchio::JointModelSphericalZYXTpl<Scalar, Options> > {
197 typedef liegroup::VectorSpaceOperation<3, true> type;
198};
199
200// JointModelFreeFlyer, JointModelPlanar
201template <typename Scalar, int Options>
202struct DefaultLieGroupMap::operation<
203 ::pinocchio::JointModelFreeFlyerTpl<Scalar, Options> > {
204 typedef liegroup::SpecialEuclideanOperation<3> type;
205};
206template <typename Scalar, int Options>
207struct DefaultLieGroupMap::operation<
208 ::pinocchio::JointModelPlanarTpl<Scalar, Options> > {
209 typedef liegroup::SpecialEuclideanOperation<2> type;
210};
212} // namespace pinocchio
213} // namespace hpp
214
215#endif // HPP_PINOCCHIO_LIEGROUP_HH
::pinocchio::JointModelCompositeTpl< value_type, 0, JointCollectionTpl > JointModelComposite
Definition: liegroup.hh:44
RnxSOnLieGroupMap LieGroupTpl HPP_PINOCCHIO_DEPRECATED
Definition: liegroup.hh:57
Utility functions.
Definition: body.hh:39
Definition: collision-object.hh:40
Definition: liegroup.hh:65
Definition: liegroup.hh:52