joint-revolute-unaligned.hpp

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

#ifndef __pinocchio_multibody_joint_revolute_unaligned_hpp__
#define __pinocchio_multibody_joint_revolute_unaligned_hpp__

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

#include "pinocchio/math/matrix.hpp"
#include "pinocchio/math/rotation.hpp"

namespace pinocchio
{

 template<typename Scalar, int Options = context::Options>
 struct MotionRevoluteUnalignedTpl;
 typedef MotionRevoluteUnalignedTpl<context::Scalar> MotionRevoluteUnaligned;

 template<typename Scalar, int Options>
 struct SE3GroupAction<MotionRevoluteUnalignedTpl<Scalar, Options>>
 {
 typedef MotionTpl<Scalar, Options> ReturnType;
 };

 template<typename Scalar, int Options, typename MotionDerived>
 struct MotionAlgebraAction<MotionRevoluteUnalignedTpl<Scalar, Options>, MotionDerived>
 {
 typedef MotionTpl<Scalar, Options> ReturnType;
 };

 template<typename _Scalar, int _Options>
 struct traits<MotionRevoluteUnalignedTpl<_Scalar, _Options>>
 {
 typedef _Scalar Scalar;
 enum
 {
 Options = _Options
 };
 typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3;
 typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6;
 typedef Eigen::Matrix<Scalar, 4, 4, Options> Matrix4;
 typedef Eigen::Matrix<Scalar, 6, 6, Options> Matrix6;
 typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6) ToVectorConstReturnType;
 typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6) ToVectorReturnType;
 typedef Vector3 AngularType;
 typedef Vector3 LinearType;
 typedef const Vector3 ConstAngularType;
 typedef const Vector3 ConstLinearType;
 typedef Matrix6 ActionMatrixType;
 typedef Matrix4 HomogeneousMatrixType;
 typedef MotionTpl<Scalar, Options> MotionPlain;
 typedef MotionPlain PlainReturnType;
 enum
 {
 LINEAR = 0,
 ANGULAR = 3
 };
 }; // traits MotionRevoluteUnalignedTpl

 template<typename _Scalar, int _Options>
 struct MotionRevoluteUnalignedTpl : MotionBase<MotionRevoluteUnalignedTpl<_Scalar, _Options>>
 {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 MOTION_TYPEDEF_TPL(MotionRevoluteUnalignedTpl);

 MotionRevoluteUnalignedTpl()
 {
 }

 template<typename Vector3Like, typename OtherScalar>
 MotionRevoluteUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis, const OtherScalar & w)
 : m_axis(axis)
 , m_w(w)
 {
 }

 inline PlainReturnType plain() const
 {
 return PlainReturnType(PlainReturnType::Vector3::Zero(), m_axis * m_w);
 }

 template<typename OtherScalar>
 MotionRevoluteUnalignedTpl __mult__(const OtherScalar & alpha) const
 {
 return MotionRevoluteUnalignedTpl(m_axis, alpha * m_w);
 }

 template<typename MotionDerived>
 inline void addTo(MotionDense<MotionDerived> & v) const
 {
 v.angular() += m_axis * m_w;
 }

 template<typename Derived>
 void setTo(MotionDense<Derived> & other) const
 {
 other.linear().setZero();
 other.angular().noalias() = m_axis * m_w;
 }

 template<typename S2, int O2, typename D2>
 void se3Action_impl(const SE3Tpl<S2, O2> & m, MotionDense<D2> & v) const
 {
 // Angular
 v.angular().noalias() = m_w * m.rotation() * m_axis;

 // Linear
 v.linear().noalias() = m.translation().cross(v.angular());
 }

 template<typename S2, int O2>
 MotionPlain se3Action_impl(const SE3Tpl<S2, O2> & m) const
 {
 MotionPlain res;
 se3Action_impl(m, res);
 return res;
 }

 template<typename S2, int O2, typename D2>
 void se3ActionInverse_impl(const SE3Tpl<S2, O2> & m, MotionDense<D2> & v) const
 {
 // Linear
 // TODO: use v.angular() as temporary variable
 Vector3 v3_tmp;
 v3_tmp.noalias() = m_axis.cross(m.translation());
 v3_tmp *= m_w;
 v.linear().noalias() = m.rotation().transpose() * v3_tmp;

 // Angular
 v.angular().noalias() = m.rotation().transpose() * m_axis;
 v.angular() *= m_w;
 }

 template<typename S2, int O2>
 MotionPlain se3ActionInverse_impl(const SE3Tpl<S2, O2> & m) const
 {
 MotionPlain res;
 se3ActionInverse_impl(m, res);
 return res;
 }

 template<typename M1, typename M2>
 void motionAction(const MotionDense<M1> & v, MotionDense<M2> & mout) const
 {
 // Linear
 mout.linear().noalias() = v.linear().cross(m_axis);
 mout.linear() *= m_w;

 // Angular
 mout.angular().noalias() = v.angular().cross(m_axis);
 mout.angular() *= m_w;
 }

 template<typename M1>
 MotionPlain motionAction(const MotionDense<M1> & v) const
 {
 MotionPlain res;
 motionAction(v, res);
 return res;
 }

 bool isEqual_impl(const MotionRevoluteUnalignedTpl & other) const
 {
 return internal::comparison_eq(m_axis, other.m_axis)
 && internal::comparison_eq(m_w, other.m_w);
 }

 const Scalar & angularRate() const
 {
 return m_w;
 }
 Scalar & angularRate()
 {
 return m_w;
 }

 const Vector3 & axis() const
 {
 return m_axis;
 }
 Vector3 & axis()
 {
 return m_axis;
 }

 protected:
 Vector3 m_axis;
 Scalar m_w;

 }; // struct MotionRevoluteUnalignedTpl

 template<typename S1, int O1, typename MotionDerived>
 inline typename MotionDerived::MotionPlain
 operator+(const MotionRevoluteUnalignedTpl<S1, O1> & m1, const MotionDense<MotionDerived> & m2)
 {
 typename MotionDerived::MotionPlain res(m2);
 res += m1;
 return res;
 }

 template<typename MotionDerived, typename S2, int O2>
 inline typename MotionDerived::MotionPlain
 operator^(const MotionDense<MotionDerived> & m1, const MotionRevoluteUnalignedTpl<S2, O2> & m2)
 {
 return m2.motionAction(m1);
 }

 template<typename Scalar, int Options>
 struct JointMotionSubspaceRevoluteUnalignedTpl;

 template<typename _Scalar, int _Options>
 struct traits<JointMotionSubspaceRevoluteUnalignedTpl<_Scalar, _Options>>
 {
 typedef _Scalar Scalar;
 enum
 {
 Options = _Options
 };
 enum
 {
 LINEAR = 0,
 ANGULAR = 3
 };

 typedef MotionRevoluteUnalignedTpl<Scalar, Options> JointMotion;
 typedef Eigen::Matrix<Scalar, 1, 1, Options> JointForce;
 typedef Eigen::Matrix<Scalar, 6, 1, Options> DenseBase;
 typedef Eigen::Matrix<Scalar, 1, 1, Options> ReducedSquaredMatrix;

 typedef DenseBase MatrixReturnType;
 typedef const DenseBase ConstMatrixReturnType;

 typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3;

 typedef typename ReducedSquaredMatrix::IdentityReturnType StDiagonalMatrixSOperationReturnType;
 }; // traits JointMotionSubspaceRevoluteUnalignedTpl

 template<typename Scalar, int Options>
 struct SE3GroupAction<JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options>>
 {
 typedef Eigen::Matrix<Scalar, 6, 1, Options> ReturnType;
 };

 template<typename Scalar, int Options, typename MotionDerived>
 struct MotionAlgebraAction<
 JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options>,
 MotionDerived>
 {
 typedef Eigen::Matrix<Scalar, 6, 1, Options> ReturnType;
 };

 template<typename Scalar, int Options, typename ForceDerived>
 struct ConstraintForceOp<JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options>, ForceDerived>
 {
 typedef
 typename traits<JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options>>::Vector3 Vector3;
 typedef Eigen::Matrix<
 typename PINOCCHIO_EIGEN_DOT_PRODUCT_RETURN_TYPE(
 Vector3, typename ForceDense<ForceDerived>::ConstAngularType),
 1,
 1,
 Options>
 ReturnType;
 };

 template<typename Scalar, int Options, typename ForceSet>
 struct ConstraintForceSetOp<JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options>, ForceSet>
 {
 typedef
 typename traits<JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options>>::Vector3 Vector3;
 typedef typename MatrixMatrixProduct<
 Eigen::Transpose<const Vector3>,
 typename Eigen::MatrixBase<const ForceSet>::template NRowsBlockXpr<3>::Type>::type ReturnType;
 };

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

 enum
 {
 NV = 1
 };

 typedef typename traits<JointMotionSubspaceRevoluteUnalignedTpl>::Vector3 Vector3;

 JointMotionSubspaceRevoluteUnalignedTpl()
 {
 }

 template<typename Vector3Like>
 JointMotionSubspaceRevoluteUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis)
 : m_axis(axis)
 {
 }

 template<typename Vector1Like>
 JointMotion __mult__(const Eigen::MatrixBase<Vector1Like> & v) const
 {
 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector1Like, 1);
 return JointMotion(m_axis, v[0]);
 }

 template<typename S1, int O1>
 typename SE3GroupAction<JointMotionSubspaceRevoluteUnalignedTpl>::ReturnType
 se3Action(const SE3Tpl<S1, O1> & m) const
 {
 typedef
 typename SE3GroupAction<JointMotionSubspaceRevoluteUnalignedTpl>::ReturnType ReturnType;

 /* X*S = [ R pxR ; 0 R ] [ 0 ; a ] = [ px(Ra) ; Ra ] */
 ReturnType res;
 res.template segment<3>(ANGULAR).noalias() = m.rotation() * m_axis;
 res.template segment<3>(LINEAR).noalias() =
 m.translation().cross(res.template segment<3>(ANGULAR));
 return res;
 }

 template<typename S1, int O1>
 typename SE3GroupAction<JointMotionSubspaceRevoluteUnalignedTpl>::ReturnType
 se3ActionInverse(const SE3Tpl<S1, O1> & m) const
 {
 typedef
 typename SE3GroupAction<JointMotionSubspaceRevoluteUnalignedTpl>::ReturnType ReturnType;

 ReturnType res;
 res.template segment<3>(ANGULAR).noalias() = m.rotation().transpose() * m_axis;
 res.template segment<3>(LINEAR).noalias() =
 -m.rotation().transpose() * m.translation().cross(m_axis);
 return res;
 }

 int nv_impl() const
 {
 return NV;
 }

 struct TransposeConst
 : JointMotionSubspaceTransposeBase<JointMotionSubspaceRevoluteUnalignedTpl>
 {
 const JointMotionSubspaceRevoluteUnalignedTpl & ref;
 TransposeConst(const JointMotionSubspaceRevoluteUnalignedTpl & ref)
 : ref(ref)
 {
 }

 template<typename ForceDerived>
 typename ConstraintForceOp<JointMotionSubspaceRevoluteUnalignedTpl, ForceDerived>::ReturnType
 operator*(const ForceDense<ForceDerived> & f) const
 {
 typedef typename ConstraintForceOp<
 JointMotionSubspaceRevoluteUnalignedTpl, ForceDerived>::ReturnType ReturnType;
 ReturnType res;
 res[0] = ref.axis().dot(f.angular());
 return res;
 }

 /* [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */
 template<typename ForceSet>
 typename ConstraintForceSetOp<JointMotionSubspaceRevoluteUnalignedTpl, ForceSet>::ReturnType
 operator*(const Eigen::MatrixBase<ForceSet> & F)
 {
 EIGEN_STATIC_ASSERT(
 ForceSet::RowsAtCompileTime == 6, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE)
 /* Return ax.T * F[3:end,:] */
 return ref.axis().transpose() * F.template middleRows<3>(ANGULAR);
 }
 };

 TransposeConst transpose() const
 {
 return TransposeConst(*this);
 }

 /* CRBA joint operators
 * - ForceSet::Block = ForceSet
 * - ForceSet operator* (Inertia Y,Constraint S)
 * - MatrixBase operator* (Constraint::Transpose S, ForceSet::Block)
 * - SE3::act(ForceSet::Block)
 */
 DenseBase matrix_impl() const
 {
 DenseBase S;
 S.template segment<3>(LINEAR).setZero();
 S.template segment<3>(ANGULAR) = m_axis;
 return S;
 }

 template<typename MotionDerived>
 typename MotionAlgebraAction<JointMotionSubspaceRevoluteUnalignedTpl, MotionDerived>::ReturnType
 motionAction(const MotionDense<MotionDerived> & m) const
 {
 const typename MotionDerived::ConstLinearType v = m.linear();
 const typename MotionDerived::ConstAngularType w = m.angular();

 DenseBase res;
 res.template segment<3>(LINEAR).noalias() = v.cross(m_axis);
 res.template segment<3>(ANGULAR).noalias() = w.cross(m_axis);

 return res;
 }

 const Vector3 & axis() const
 {
 return m_axis;
 }
 Vector3 & axis()
 {
 return m_axis;
 }

 bool isEqual(const JointMotionSubspaceRevoluteUnalignedTpl & other) const
 {
 return internal::comparison_eq(m_axis, other.m_axis);
 }

 protected:
 Vector3 m_axis;

 }; // struct JointMotionSubspaceRevoluteUnalignedTpl

 template<typename S1, int O1, typename S2, int O2>
 struct MultiplicationOp<InertiaTpl<S1, O1>, JointMotionSubspaceRevoluteUnalignedTpl<S2, O2>>
 {
 typedef Eigen::Matrix<S2, 6, 1, O2> ReturnType;
 };

 /* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
 namespace impl
 {
 template<typename S1, int O1, typename S2, int O2>
 struct LhsMultiplicationOp<InertiaTpl<S1, O1>, JointMotionSubspaceRevoluteUnalignedTpl<S2, O2>>
 {
 typedef InertiaTpl<S1, O1> Inertia;
 typedef JointMotionSubspaceRevoluteUnalignedTpl<S2, O2> Constraint;
 typedef typename MultiplicationOp<Inertia, Constraint>::ReturnType ReturnType;
 static inline ReturnType run(const Inertia & Y, const Constraint & cru)
 {
 ReturnType res;

 /* YS = [ m -mcx ; mcx I-mcxcx ] [ 0 ; w ] = [ mcxw ; Iw -mcxcxw ] */
 const typename Inertia::Scalar & m = Y.mass();
 const typename Inertia::Vector3 & c = Y.lever();
 const typename Inertia::Symmetric3 & I = Y.inertia();

 res.template segment<3>(Inertia::LINEAR) = -m * c.cross(cru.axis());
 res.template segment<3>(Inertia::ANGULAR).noalias() = I * cru.axis();
 res.template segment<3>(Inertia::ANGULAR) +=
 c.cross(res.template segment<3>(Inertia::LINEAR));

 return res;
 }
 };
 } // namespace impl

 template<typename M6Like, typename Scalar, int Options>
 struct MultiplicationOp<
 Eigen::MatrixBase<M6Like>,
 JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options>>
 {
 typedef typename SizeDepType<3>::ColsReturn<M6Like>::ConstType M6LikeCols;
 typedef typename Eigen::internal::remove_const<M6LikeCols>::type M6LikeColsNonConst;

 typedef JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options> Constraint;
 typedef typename Constraint::Vector3 Vector3;
 typedef const typename MatrixMatrixProduct<M6LikeColsNonConst, Vector3>::type ReturnType;
 };

 /* [ABA] operator* (Inertia Y,Constraint S) */
 namespace impl
 {
 template<typename M6Like, typename Scalar, int Options>
 struct LhsMultiplicationOp<
 Eigen::MatrixBase<M6Like>,
 JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options>>
 {
 typedef JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options> Constraint;
 typedef
 typename MultiplicationOp<Eigen::MatrixBase<M6Like>, Constraint>::ReturnType ReturnType;

 static inline ReturnType run(const Eigen::MatrixBase<M6Like> & Y, const Constraint & cru)
 {
 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(M6Like, 6, 6);
 return Y.derived().template middleCols<3>(Constraint::ANGULAR) * cru.axis();
 }
 };
 } // namespace impl

 template<typename Scalar, int Options>
 struct JointRevoluteUnalignedTpl;

 template<typename _Scalar, int _Options>
 struct traits<JointRevoluteUnalignedTpl<_Scalar, _Options>>
 {
 enum
 {
 NQ = 1,
 NV = 1,
 NVExtended = 1
 };
 typedef _Scalar Scalar;
 enum
 {
 Options = _Options
 };
 typedef JointDataRevoluteUnalignedTpl<Scalar, Options> JointDataDerived;
 typedef JointModelRevoluteUnalignedTpl<Scalar, Options> JointModelDerived;
 typedef JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options> Constraint_t;
 typedef SE3Tpl<Scalar, Options> Transformation_t;
 typedef MotionRevoluteUnalignedTpl<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::true_ is_mimicable_t;

 PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE
 };

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

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

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

 ConfigVector_t joint_q;
 TangentVector_t joint_v;

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

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

 JointDataRevoluteUnalignedTpl()
 : joint_q(ConfigVector_t::Zero())
 , joint_v(TangentVector_t::Zero())
 , M(Transformation_t::Identity())
 , S(Constraint_t::Vector3::Zero())
 , v(Constraint_t::Vector3::Zero(), (Scalar)0)
 , U(U_t::Zero())
 , Dinv(D_t::Zero())
 , UDinv(UD_t::Zero())
 , StU(D_t::Zero())
 {
 }

 template<typename Vector3Like>
 JointDataRevoluteUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis)
 : joint_q(ConfigVector_t::Zero())
 , joint_v(TangentVector_t::Zero())
 , M(Transformation_t::Identity())
 , S(axis)
 , v(axis, (Scalar)NAN)
 , U(U_t::Zero())
 , Dinv(D_t::Zero())
 , UDinv(UD_t::Zero())
 , StU(D_t::Zero())
 {
 }

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

 }; // struct JointDataRevoluteUnalignedTpl

 PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelRevoluteUnalignedTpl);
 template<typename _Scalar, int _Options>
 struct JointModelRevoluteUnalignedTpl
 : public JointModelBase<JointModelRevoluteUnalignedTpl<_Scalar, _Options>>
 {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 typedef JointRevoluteUnalignedTpl<_Scalar, _Options> JointDerived;
 PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived);
 typedef Eigen::Matrix<Scalar, 3, 1, _Options> Vector3;

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

 JointModelRevoluteUnalignedTpl()
 : axis(Vector3::UnitX())
 {
 }

 JointModelRevoluteUnalignedTpl(const Scalar & x, const Scalar & y, const Scalar & z)
 : axis(x, y, z)
 {
 normalize(axis);
 assert(isUnitary(axis) && "Rotation axis is not unitary");
 }

 template<typename Vector3Like>
 JointModelRevoluteUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis)
 : axis(axis)
 {
 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Vector3Like);
 assert(isUnitary(axis) && "Rotation axis is not unitary");
 }

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

 using Base::isEqual;
 bool isEqual(const JointModelRevoluteUnalignedTpl & other) const
 {
 return Base::isEqual(other) && internal::comparison_eq(axis, other.axis);
 }

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

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

 template<typename ConfigVector>
 void calc(JointDataDerived & data, const typename Eigen::MatrixBase<ConfigVector> & qs) const
 {
 data.joint_q[0] = qs[idx_q()];

 toRotationMatrix(axis, data.joint_q[0], data.M.rotation());
 }

 template<typename TangentVector>
 void
 calc(JointDataDerived & data, const Blank, const typename Eigen::MatrixBase<TangentVector> & vs)
 const
 {
 data.v.angularRate() = static_cast<Scalar>(vs[idx_v()]);
 }

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

 data.v.angularRate() = static_cast<Scalar>(vs[idx_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.noalias() = I.template middleCols<3>(Motion::ANGULAR) * axis;
 data.Dinv[0] =
 Scalar(1) / (axis.dot(data.U.template segment<3>(Motion::ANGULAR)) + armature[0]);
 data.UDinv.noalias() = data.U * data.Dinv;

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

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

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

 // data

 Vector3 axis;
 }; // struct JointModelRevoluteUnalignedTpl

 template<typename Scalar, int Options>
 struct ConfigVectorAffineTransform<JointRevoluteUnalignedTpl<Scalar, Options>>
 {
 typedef LinearAffineTransform Type;
 };
} // namespace pinocchio

#include <boost/type_traits.hpp>

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

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

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

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

#endif // ifndef __pinocchio_multibody_joint_revolute_unaligned_hpp__