joint-free-flyer.hpp

//
// Copyright (c) 2015-2020 CNRS INRIA
// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//

#ifndef __pinocchio_multibody_joint_free_flyer_hpp__
#define __pinocchio_multibody_joint_free_flyer_hpp__

#include "pinocchio/macros.hpp"
#include "pinocchio/spatial/inertia.hpp"
#include "pinocchio/spatial/explog.hpp"
#include "pinocchio/multibody/joint/joint-base.hpp"
#include "pinocchio/multibody/joint-motion-subspace.hpp"
#include "pinocchio/math/fwd.hpp"
#include "pinocchio/math/quaternion.hpp"

namespace pinocchio
{

 template<typename Scalar, int Options>
 struct JointMotionSubspaceIdentityTpl;

 template<typename _Scalar, int _Options>
 struct traits<JointMotionSubspaceIdentityTpl<_Scalar, _Options>>
 {
 typedef _Scalar Scalar;
 enum
 {
 Options = _Options
 };
 typedef Eigen::Matrix<Scalar, 6, 6, Options> Matrix6;
 enum
 {
 LINEAR = 0,
 ANGULAR = 3
 };
 typedef MotionTpl<Scalar, Options> JointMotion;
 typedef Eigen::Matrix<Scalar, 6, 1, Options> JointForce;
 typedef Eigen::Matrix<Scalar, 6, 6, Options> DenseBase;
 typedef Eigen::Matrix<Scalar, 6, 6, Options> ReducedSquaredMatrix;

 typedef typename Matrix6::IdentityReturnType ConstMatrixReturnType;
 typedef typename Matrix6::IdentityReturnType MatrixReturnType;
 typedef typename Matrix6::IdentityReturnType StDiagonalMatrixSOperationReturnType;
 }; // traits ConstraintRevolute

 template<typename _Scalar, int _Options>
 struct JointMotionSubspaceIdentityTpl
 : JointMotionSubspaceBase<JointMotionSubspaceIdentityTpl<_Scalar, _Options>>
 {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(JointMotionSubspaceIdentityTpl)

 enum
 {
 NV = 6
 };

 template<typename Vector6Like>
 JointMotion __mult__(const Eigen::MatrixBase<Vector6Like> & vj) const
 {
 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector6Like, 6);
 return JointMotion(vj);
 }

 template<typename S1, int O1>
 typename SE3Tpl<S1, O1>::ActionMatrixType se3Action(const SE3Tpl<S1, O1> & m) const
 {
 return m.toActionMatrix();
 }

 template<typename S1, int O1>
 typename SE3Tpl<S1, O1>::ActionMatrixType se3ActionInverse(const SE3Tpl<S1, O1> & m) const
 {
 return m.toActionMatrixInverse();
 }

 int nv_impl() const
 {
 return NV;
 }

 struct TransposeConst : JointMotionSubspaceTransposeBase<JointMotionSubspaceIdentityTpl>
 {
 template<typename Derived>
 typename ForceDense<Derived>::ToVectorConstReturnType
 operator*(const ForceDense<Derived> & phi)
 {
 return phi.toVector();
 }

 /* [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */
 template<typename MatrixDerived>
 typename PINOCCHIO_EIGEN_REF_CONST_TYPE(MatrixDerived)
 operator*(const Eigen::MatrixBase<MatrixDerived> & F)
 {
 return F.derived();
 }
 };

 TransposeConst transpose() const
 {
 return TransposeConst();
 }
 MatrixReturnType matrix_impl() const
 {
 return DenseBase::Identity();
 }

 template<typename MotionDerived>
 typename MotionDerived::ActionMatrixType motionAction(const MotionBase<MotionDerived> & v) const
 {
 return v.toActionMatrix();
 }

 bool isEqual(const JointMotionSubspaceIdentityTpl &) const
 {
 return true;
 }

 }; // struct JointMotionSubspaceIdentityTpl

 template<typename Scalar, int Options, typename Vector6Like>
 MotionRef<const Vector6Like> operator*(
 const JointMotionSubspaceIdentityTpl<Scalar, Options> &,
 const Eigen::MatrixBase<Vector6Like> & v)
 {
 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector6Like, 6);
 // typedef typename JointMotionSubspaceIdentityTpl<Scalar,Options>::Motion Motion;
 typedef MotionRef<const Vector6Like> Motion;
 return Motion(v.derived());
 }

 /* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
 template<typename S1, int O1, typename S2, int O2>
 inline typename InertiaTpl<S1, O1>::Matrix6
 operator*(const InertiaTpl<S1, O1> & Y, const JointMotionSubspaceIdentityTpl<S2, O2> &)
 {
 return Y.matrix();
 }

 /* [ABA] Y*S operator*/
 template<typename Matrix6Like, typename S2, int O2>
 inline typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Matrix6Like) operator*(
 const Eigen::MatrixBase<Matrix6Like> & Y, const JointMotionSubspaceIdentityTpl<S2, O2> &)
 {
 return Y.derived();
 }

 template<typename S1, int O1>
 struct SE3GroupAction<JointMotionSubspaceIdentityTpl<S1, O1>>
 {
 typedef typename SE3Tpl<S1, O1>::ActionMatrixType ReturnType;
 };

 template<typename S1, int O1, typename MotionDerived>
 struct MotionAlgebraAction<JointMotionSubspaceIdentityTpl<S1, O1>, MotionDerived>
 {
 typedef typename SE3Tpl<S1, O1>::ActionMatrixType ReturnType;
 };

 template<typename Scalar, int Options>
 struct JointFreeFlyerTpl;

 template<typename _Scalar, int _Options>
 struct traits<JointFreeFlyerTpl<_Scalar, _Options>>
 {
 enum
 {
 NQ = 7,
 NV = 6,
 NVExtended = 6
 };
 typedef _Scalar Scalar;
 enum
 {
 Options = _Options
 };
 typedef JointDataFreeFlyerTpl<Scalar, Options> JointDataDerived;
 typedef JointModelFreeFlyerTpl<Scalar, Options> JointModelDerived;
 typedef JointMotionSubspaceIdentityTpl<Scalar, Options> Constraint_t;
 typedef SE3Tpl<Scalar, Options> Transformation_t;
 typedef MotionTpl<Scalar, Options> Motion_t;
 typedef MotionZeroTpl<Scalar, Options> Bias_t;

 // [ABA]
 typedef Eigen::Matrix<Scalar, 6, NV, Options> U_t;
 typedef Eigen::Matrix<Scalar, NV, NV, Options> D_t;
 typedef Eigen::Matrix<Scalar, 6, NV, Options> UD_t;

 typedef Eigen::Matrix<Scalar, NQ, 1, Options> ConfigVector_t;
 typedef Eigen::Matrix<Scalar, NV, 1, Options> TangentVector_t;

 typedef boost::mpl::false_ is_mimicable_t;

 PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE
 };

 template<typename _Scalar, int _Options>
 struct traits<JointDataFreeFlyerTpl<_Scalar, _Options>>
 {
 typedef JointFreeFlyerTpl<_Scalar, _Options> JointDerived;
 typedef _Scalar Scalar;
 };

 template<typename _Scalar, int _Options>
 struct traits<JointModelFreeFlyerTpl<_Scalar, _Options>>
 {
 typedef JointFreeFlyerTpl<_Scalar, _Options> JointDerived;
 typedef _Scalar Scalar;
 };

 template<typename _Scalar, int _Options>
 struct JointDataFreeFlyerTpl : public JointDataBase<JointDataFreeFlyerTpl<_Scalar, _Options>>
 {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 typedef JointFreeFlyerTpl<_Scalar, _Options> JointDerived;
 PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived);
 PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR

 ConfigVector_t joint_q;
 TangentVector_t joint_v;

 Constraint_t S;
 Transformation_t M;
 Motion_t v;
 Bias_t c;

 // [ABA] specific data
 U_t U;
 D_t Dinv;
 UD_t UDinv;
 D_t StU;

 JointDataFreeFlyerTpl()
 : joint_q(ConfigVector_t::Zero())
 , joint_v(TangentVector_t::Zero())
 , M(Transformation_t::Identity())
 , v(Motion_t::Zero())
 , U(U_t::Zero())
 , Dinv(D_t::Zero())
 , UDinv(UD_t::Identity())
 , StU(D_t::Zero())
 {
 joint_q[6] = Scalar(1);
 }

 static std::string classname()
 {
 return std::string("JointDataFreeFlyer");
 }
 std::string shortname() const
 {
 return classname();
 }

 }; // struct JointDataFreeFlyerTpl

 PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelFreeFlyerTpl);
 template<typename _Scalar, int _Options>
 struct JointModelFreeFlyerTpl : public JointModelBase<JointModelFreeFlyerTpl<_Scalar, _Options>>
 {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 typedef JointFreeFlyerTpl<_Scalar, _Options> JointDerived;
 PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived);

 typedef JointModelBase<JointModelFreeFlyerTpl> Base;
 using Base::id;
 using Base::idx_q;
 using Base::idx_v;
 using Base::idx_vExtended;
 using Base::setIndexes;

 JointDataDerived createData() const
 {
 return JointDataDerived();
 }

 const std::vector<bool> hasConfigurationLimit() const
 {
 return {true, true, true, false, false, false, false};
 }

 const std::vector<bool> hasConfigurationLimitInTangent() const
 {
 return {true, true, true, false, false, false};
 }

 template<typename ConfigVectorLike>
 inline void forwardKinematics(
 Transformation_t & M, const Eigen::MatrixBase<ConfigVectorLike> & q_joint) const
 {
 EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigVector_t, ConfigVectorLike);
 typedef typename Eigen::Quaternion<
 typename ConfigVectorLike::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorLike)::Options>
 Quaternion;
 typedef Eigen::Map<const Quaternion> ConstQuaternionMap;

 ConstQuaternionMap quat(q_joint.template tail<4>().data());
 // assert(math::fabs(quat.coeffs().squaredNorm()-1.) <= sqrt(Eigen::NumTraits<typename
 // V::Scalar>::epsilon())); TODO: check validity of the rhs precision
 assert(math::fabs(static_cast<Scalar>(quat.coeffs().squaredNorm() - 1)) <= 1e-4);

 M.rotation(quat.matrix());
 M.translation(q_joint.template head<3>());
 }

 template<typename Vector3Derived, typename QuaternionDerived>
 PINOCCHIO_DONT_INLINE void calc(
 JointDataDerived & data,
 const typename Eigen::MatrixBase<Vector3Derived> & trans,
 const typename Eigen::QuaternionBase<QuaternionDerived> & quat) const
 {
 data.M.translation(trans);
 data.M.rotation(quat.matrix());
 }

 template<typename ConfigVector>
 PINOCCHIO_DONT_INLINE void
 calc(JointDataDerived & data, const typename Eigen::MatrixBase<ConfigVector> & qs) const
 {
 typedef typename Eigen::Quaternion<Scalar, Options> Quaternion;
 typedef Eigen::Map<const Quaternion> ConstQuaternionMap;

 data.joint_q = qs.template segment<NQ>(idx_q());
 ConstQuaternionMap quat(data.joint_q.template tail<4>().data());

 calc(data, data.joint_q.template head<3>(), quat);
 }

 template<typename TangentVector>
 PINOCCHIO_DONT_INLINE void
 calc(JointDataDerived & data, const Blank, const typename Eigen::MatrixBase<TangentVector> & vs)
 const
 {
 data.joint_v = vs.template segment<NV>(idx_v());
 data.v = data.joint_v;
 }

 template<typename ConfigVector, typename TangentVector>
 PINOCCHIO_DONT_INLINE void calc(
 JointDataDerived & data,
 const typename Eigen::MatrixBase<ConfigVector> & qs,
 const typename Eigen::MatrixBase<TangentVector> & vs) const
 {
 calc(data, qs.derived());

 data.joint_v = vs.template segment<NV>(idx_v());
 data.v = data.joint_v;
 }

 template<typename VectorLike, typename Matrix6Like>
 void calc_aba(
 JointDataDerived & data,
 const Eigen::MatrixBase<VectorLike> & armature,
 const Eigen::MatrixBase<Matrix6Like> & I,
 const bool update_I) const
 {
 data.U = I;
 data.StU = I;
 data.StU.diagonal() += armature;

 internal::PerformStYSInversion<Scalar>::run(data.StU, data.Dinv);
 data.UDinv.noalias() = I * data.Dinv;

 if (update_I)
 PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like, I).noalias() -= data.UDinv * data.U.transpose();
 }

 static std::string classname()
 {
 return std::string("JointModelFreeFlyer");
 }
 std::string shortname() const
 {
 return classname();
 }

 template<typename NewScalar>
 JointModelFreeFlyerTpl<NewScalar, Options> cast() const
 {
 typedef JointModelFreeFlyerTpl<NewScalar, Options> ReturnType;
 ReturnType res;
 res.setIndexes(id(), idx_q(), idx_v(), idx_vExtended());
 return res;
 }

 }; // struct JointModelFreeFlyerTpl

} // namespace pinocchio

#include <boost/type_traits.hpp>

namespace boost
{
 template<typename Scalar, int Options>
 struct has_nothrow_constructor<::pinocchio::JointModelFreeFlyerTpl<Scalar, Options>>
 : public integral_constant<bool, true>
 {
 };

 template<typename Scalar, int Options>
 struct has_nothrow_copy<::pinocchio::JointModelFreeFlyerTpl<Scalar, Options>>
 : public integral_constant<bool, true>
 {
 };

 template<typename Scalar, int Options>
 struct has_nothrow_constructor<::pinocchio::JointDataFreeFlyerTpl<Scalar, Options>>
 : public integral_constant<bool, true>
 {
 };

 template<typename Scalar, int Options>
 struct has_nothrow_copy<::pinocchio::JointDataFreeFlyerTpl<Scalar, Options>>
 : public integral_constant<bool, true>
 {
 };
} // namespace boost

#endif // ifndef __pinocchio_multibody_joint_free_flyer_hpp__