manipulability.hh

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// Copyright (c) 2018 CNRS
// Authors: Joseph Mirabel
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright
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#ifndef HPP_CONSTRAINTS_MANIPULABILITY_HH
#define HPP_CONSTRAINTS_MANIPULABILITY_HH
 
#include <hpp/constraints/config.hh>
#include <hpp/constraints/differentiable-function.hh>
#include <hpp/constraints/fwd.hh>
#include <hpp/constraints/matrix-view.hh>
 
namespace hpp {
namespace constraints {
HPP_PREDEF_CLASS(Manipulability);
typedef shared_ptr<Manipulability> ManipulabilityPtr_t;


 
class HPP_CONSTRAINTS_DLLAPI Manipulability : public DifferentiableFunction {
 public:
  virtual ~Manipulability() {}
 
  static ManipulabilityPtr_t create(DifferentiableFunctionPtr_t function,
                                    DevicePtr_t robot, std::string name) {
    return ManipulabilityPtr_t(new Manipulability(function, robot, name));
  }

  void lockJoint(const JointPtr_t& joint);

  const DevicePtr_t& robot() const { return robot_; }
 
 protected:
  Manipulability(DifferentiableFunctionPtr_t function, DevicePtr_t robot,
                 std::string name);
 
  void impl_compute(LiegroupElementRef result, vectorIn_t argument) const;
 
  void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const;
 
  bool isEqual(const DifferentiableFunction& other) const {
    const Manipulability& castother =
        dynamic_cast<const Manipulability&>(other);
    if (!DifferentiableFunction::isEqual(other)) return false;
 
    if (function_ != castother.function_) return false;
    if (robot_ != castother.robot_) return false;
    if (cols_.cols() != castother.cols_.cols()) return false;
    if (J_ != castother.J_) return false;
    if (J_JT_ != castother.J_JT_) return false;
 
    return true;
  }
 
 private:
  DifferentiableFunctionPtr_t function_;
  DevicePtr_t robot_;
 
  Eigen::ColBlockIndices cols_;
  ArrayXb activeAndNonLockedDerivParams_;
  mutable matrix_t J_, J_JT_;
};  // class Manipulability

}  // namespace constraints
}  // namespace hpp
 
#endif  // HPP_CONSTRAINTS_MANIPULABILITY_HH