84 lines
2.4 KiB
C++
84 lines
2.4 KiB
C++
/* SPDX-FileCopyrightText: 2009 Ruben Smits
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*
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* SPDX-License-Identifier: LGPL-2.1-or-later */
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/** \file
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* \ingroup intern_itasc
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*/
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#ifndef UBLAS_TYPES_HPP_
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#define UBLAS_TYPES_HPP_
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#include <boost/numeric/ublas/matrix.hpp>
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#include <boost/numeric/ublas/vector.hpp>
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#include <boost/numeric/ublas/matrix_proxy.hpp>
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#include <boost/numeric/ublas/vector_proxy.hpp>
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#include "kdl/frames.hpp"
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#include "kdl/tree.hpp"
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#include "kdl/chain.hpp"
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#include "kdl/jacobian.hpp"
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#include "kdl/jntarray.hpp"
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namespace iTaSC{
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namespace ublas = boost::numeric::ublas;
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using KDL::Twist;
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using KDL::Frame;
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using KDL::Joint;
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using KDL::Inertia;
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using KDL::SegmentMap;
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using KDL::Tree;
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using KDL::JntArray;
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using KDL::Jacobian;
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using KDL::Segment;
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using KDL::Rotation;
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using KDL::Vector;
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using KDL::Chain;
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#define u_scalar double
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#define u_vector ublas::vector<u_scalar>
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#define u_zero_vector ublas::zero_vector<u_scalar>
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#define u_matrix ublas::matrix<u_scalar>
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#define u_matrix6 ublas::matrix<u_scalar,6,6>
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#define u_identity_matrix ublas::identity_matrix<u_scalar>
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#define u_scalar_vector ublas::scalar_vector<u_scalar>
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#define u_zero_matrix ublas::zero_matrix<u_scalar>
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#define u_vector6 ublas::bounded_vector<u_scalar,6>
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inline static int changeBase(const u_matrix& J_in, const Frame& T, u_matrix& J_out) {
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if (J_out.size1() != 6 || J_in.size1() != 6 || J_in.size2() != J_out.size2())
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return -1;
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for (unsigned int j = 0; j < J_in.size2(); ++j) {
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ublas::matrix_column<const u_matrix > Jj_in = column(J_in,j);
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ublas::matrix_column<u_matrix > Jj_out = column(J_out,j);
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Twist arg;
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for(unsigned int i=0;i<6;++i)
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arg(i)=Jj_in(i);
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Twist tmp(T*arg);
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for(unsigned int i=0;i<6;++i)
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Jj_out(i)=tmp(i);
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}
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return 0;
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}
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inline static int changeBase(const ublas::matrix_range<u_matrix >& J_in, const Frame& T, ublas::matrix_range<u_matrix >& J_out) {
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if (J_out.size1() != 6 || J_in.size1() != 6 || J_in.size2() != J_out.size2())
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return -1;
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for (unsigned int j = 0; j < J_in.size2(); ++j) {
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ublas::matrix_column<const ublas::matrix_range<u_matrix > > Jj_in = column(J_in,j);
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ublas::matrix_column<ublas::matrix_range<u_matrix > > Jj_out = column(J_out,j);
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Twist arg;
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for(unsigned int i=0;i<6;++i)
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arg(i)=Jj_in(i);
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Twist tmp(T*arg);
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for(unsigned int i=0;i<6;++i)
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Jj_out(i)=tmp(i);
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}
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return 0;
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}
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}
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#endif /* UBLAS_TYPES_HPP_ */
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