configuration.hh

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//
// Copyright (c) 2014 CNRS
// Author: Florent Lamiraux
//
//
 
// 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
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_PINOCCHIO_CONFIGURATION_HH
#define HPP_PINOCCHIO_CONFIGURATION_HH
 
#include <hpp/pinocchio/fwd.hh>
#include <iomanip>
 
namespace hpp {
namespace pinocchio {
void saturate(const DevicePtr_t& robot, ConfigurationOut_t configuration);

bool saturate(const DevicePtr_t& robot, ConfigurationOut_t configuration,
              ArrayXb& saturation);

template <bool saturateConfig, typename LieGroup>
void integrate(const DevicePtr_t& robot, ConfigurationIn_t configuration,
               vectorIn_t velocity, ConfigurationOut_t result);
 
void integrate(const DevicePtr_t& robot, ConfigurationIn_t configuration,
               vectorIn_t velocity, ConfigurationOut_t result);

template <typename LieGroup>
void interpolate(const DevicePtr_t& robot, ConfigurationIn_t q0,
                 ConfigurationIn_t q1, const value_type& u,
                 ConfigurationOut_t result);
 
void interpolate(const DevicePtr_t& robot, ConfigurationIn_t q0,
                 ConfigurationIn_t q1, const value_type& u,
                 ConfigurationOut_t result);

template <typename LieGroup>
void difference(const DevicePtr_t& robot, ConfigurationIn_t q1,
                ConfigurationIn_t q2, vectorOut_t result);
 
void difference(const DevicePtr_t& robot, ConfigurationIn_t q1,
                ConfigurationIn_t q2, vectorOut_t result);

bool isApprox(const DevicePtr_t& robot, ConfigurationIn_t q1,
              ConfigurationIn_t q2, value_type eps);

value_type distance(const DevicePtr_t& robot, ConfigurationIn_t q1,
                    ConfigurationIn_t q2);

void normalize(const DevicePtr_t& robot, Configuration_t& q);

inline void normalize(const DevicePtr_t& robot, ConfigurationOut_t q) {
  Configuration_t qq = q;
  normalize(robot, qq);
  q = qq;
}

bool isNormalized(const DevicePtr_t& robot, ConfigurationIn_t q,
                  const value_type& eps);

inline std::string displayConfig(ConfigurationIn_t q, int precision = 20) {
  std::ostringstream oss;
  oss << "(" << std::setprecision(precision);
  for (size_type i = 0; i < q.size(); ++i) {
    oss << q[i] << ",";
  }
  oss << ")";
  return oss.str();
}

std::ostream& display(std::ostream& os, const SE3& m);
}  // namespace pinocchio
}  // namespace hpp
#endif  // HPP_PINOCCHIO_CONFIGURATION_HH