hpp-core: include/hpp/core/relative-motion.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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relative-motion.hh
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1//
2// Copyright (c) 2016 CNRS
3// Authors: Joseph Mirabel
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
26// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
28// DAMAGE.
29
30#ifndef HPP_CORE_RELATIVE_MOTION_HH
31#define HPP_CORE_RELATIVE_MOTION_HH
32
33#include <Eigen/Core>
34#include <hpp/core/fwd.hh>
35#include <hpp/pinocchio/fwd.hh>
36#include <hpp/pinocchio/joint.hh>
37
38namespace hpp {
39namespace core {
40 struct RelativeMotion {
41 enum RelativeMotionType {
44 Constrained = 0,
47 Parameterized = 1,
49 Unconstrained = 2
50 };
51
61 typedef Eigen::Matrix<RelativeMotionType, Eigen::Dynamic, Eigen::Dynamic>
62 matrix_type;
63
71 static matrix_type matrix(const DevicePtr_t& robot);
72
80 static void fromConstraint(matrix_type& matrix, const DevicePtr_t& robot,
81 const ConstraintSetPtr_t& constraint);
82
101 static void recurseSetRelMotion(matrix_type& matrix, const size_type& i1,
102 const size_type& i2,
103 const RelativeMotionType& type);
104
108 static inline size_type idx(const JointConstPtr_t& joint) {
109 return (joint ? joint->index() : 0);
110 }
111};
112} // namespace core
113} // namespace hpp
114
115namespace Eigen {
116template <>
117 struct NumTraits<hpp::core::RelativeMotion::RelativeMotionType>
118 : NumTraits<int> {};
119} // namespace Eigen
120
121#endif // HPP_CORE_RELATIVE_MOTION_HH
fwd.hh
joint.hh
Eigen
hpp
hpp::core::JointConstPtr_t
pinocchio::JointConstPtr_t JointConstPtr_t
Definition fwd.hh:150
hpp::core::size_type
pinocchio::size_type size_type
Definition fwd.hh:173
hpp::core::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:134
hpp::core::ConstraintSetPtr_t
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition fwd.hh:130
hpp::core::RelativeMotion
Definition relative-motion.hh:40
hpp::core::RelativeMotion::matrix
static matrix_type matrix(const DevicePtr_t &robot)
hpp::core::RelativeMotion::recurseSetRelMotion
static void recurseSetRelMotion(matrix_type &matrix, const size_type &i1, const size_type &i2, const RelativeMotionType &type)
hpp::core::RelativeMotion::fromConstraint
static void fromConstraint(matrix_type &matrix, const DevicePtr_t &robot, const ConstraintSetPtr_t &constraint)
hpp::core::RelativeMotion::matrix_type
Eigen::Matrix< RelativeMotionType, Eigen::Dynamic, Eigen::Dynamic > matrix_type
Definition relative-motion.hh:62
hpp::core::RelativeMotion::idx
static size_type idx(const JointConstPtr_t &joint)
Definition relative-motion.hh:108
hpp::core::RelativeMotion::RelativeMotionType
RelativeMotionType
Definition relative-motion.hh:41
hpp::core::RelativeMotion::Constrained
@ Constrained
Definition relative-motion.hh:44
hpp::core::RelativeMotion::Parameterized
@ Parameterized
Definition relative-motion.hh:47
hpp::core::RelativeMotion::Unconstrained
@ Unconstrained
The relative motion is not constrained.
Definition relative-motion.hh:49