min-manipulability.hh

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// Copyright (c) 2018 - 2026 CNRS
// Authors: Joseph Mirabel, Florent Lamiraux
//
 
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#ifndef HPP_CONSTRAINTS_MIN_MANIPULABILITY_HH
#define HPP_CONSTRAINTS_MIN_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(MinManipulability);
typedef shared_ptr<MinManipulability> MinManipulabilityPtr_t;


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

  void lockJoint(const JointPtr_t& joint);

  const DevicePtr_t& robot() const { return robot_; }
 
 protected:
  MinManipulability(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 MinManipulability& castother =
        dynamic_cast<const MinManipulability&>(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 MinManipulability

}  // namespace constraints
}  // namespace hpp
 
#endif  // HPP_CONSTRAINTS_MIN_MANIPULABILITY_HH