relative-motion.hh

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//
// Copyright (c) 2016 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.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_CORE_RELATIVE_MOTION_HH
#define HPP_CORE_RELATIVE_MOTION_HH
 
#include <Eigen/Core>
#include <hpp/core/fwd.hh>
#include <hpp/pinocchio/fwd.hh>
#include <hpp/pinocchio/joint.hh>
 
namespace hpp {
namespace core {
struct RelativeMotion {
  enum RelativeMotionType {
    Constrained = 0,
    Parameterized = 1,
    Unconstrained = 2
  };

  typedef Eigen::Matrix<RelativeMotionType, Eigen::Dynamic, Eigen::Dynamic>
      matrix_type;

  static matrix_type matrix(const DevicePtr_t& robot);

  static void fromConstraint(matrix_type& matrix, const DevicePtr_t& robot,
                             const ConstraintSetPtr_t& constraint);

  static void recurseSetRelMotion(matrix_type& matrix, const size_type& i1,
                                  const size_type& i2,
                                  const RelativeMotionType& type);

  static inline size_type idx(const JointConstPtr_t& joint) {
    return (joint ? joint->index() : 0);
  }
};
}  // namespace core
}  // namespace hpp
 
namespace Eigen {
template <>
struct NumTraits<hpp::core::RelativeMotion::RelativeMotionType>
    : NumTraits<int> {};
}  // namespace Eigen
 
#endif  // HPP_CORE_RELATIVE_MOTION_HH