ConfigurationSpace.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * 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 DART_MATH_CONFIGURATIONSPACE_HPP_
#define DART_MATH_CONFIGURATIONSPACE_HPP_
 
#include <Eigen/Dense>
 
#include "dart/math/Geometry.hpp"
#include "dart/math/MathTypes.hpp"
 
namespace dart {
namespace math {
 
//==============================================================================
template <std::size_t Dimension>
struct RealVectorSpace
{
  static constexpr std::size_t NumDofs = Dimension;
  static constexpr int NumDofsEigen = static_cast<int>(Dimension);
 
  using TangentSpace = RealVectorSpace<NumDofs>;
 
  using Point = Eigen::Matrix<double, NumDofs, 1>;
  using EuclideanPoint = Eigen::Matrix<double, NumDofs, 1>;
  using Vector = Eigen::Matrix<double, NumDofs, 1>;
  using Matrix = Eigen::Matrix<double, NumDofs, NumDofs>;
  using JacobianMatrix = Eigen::Matrix<double, 6, NumDofs>;
};
 
//==============================================================================
//
// These namespace-level definitions are required to enable ODR-use of static
// constexpr member variables.
//
// See this StackOverflow answer: http://stackoverflow.com/a/14396189/111426
//
template <std::size_t Dimension>
constexpr std::size_t RealVectorSpace<Dimension>::NumDofs;
template <std::size_t Dimension>
constexpr int RealVectorSpace<Dimension>::NumDofsEigen;
 
using NullSpace = RealVectorSpace<0u>;
using R1Space = RealVectorSpace<1u>;
using R2Space = RealVectorSpace<2u>;
using R3Space = RealVectorSpace<3u>;
 
//==============================================================================
struct SO3Space
{
  static constexpr std::size_t NumDofs = 3u;
  static constexpr int NumDofsEigen = 3;
 
  using TangentSpace = RealVectorSpace<NumDofs>;
 
  using Point = Eigen::Matrix3d;
  using EuclideanPoint = Eigen::Vector3d;
  using Vector = Eigen::Vector3d;
  using Matrix = Eigen::Matrix3d;
  using JacobianMatrix = Eigen::Matrix<double, 6, NumDofs>;
};
 
//==============================================================================
struct SE3Space
{
  static constexpr std::size_t NumDofs = 6u;
  static constexpr int NumDofsEigen = 6;
 
  using TangentSpace = RealVectorSpace<NumDofs>;
 
  using Point = Eigen::Isometry3d;
  using EuclideanPoint = Eigen::Vector6d;
  using Vector = Eigen::Vector6d;
  using Matrix = Eigen::Matrix6d;
  using JacobianMatrix = Eigen::Matrix6d;
};
 
struct MapsToManifoldPoint
{
};
 
//==============================================================================
template <typename SpaceT>
typename SpaceT::Matrix inverse(const typename SpaceT::Matrix& mat);
 
//==============================================================================
template <typename SpaceT>
typename SpaceT::EuclideanPoint toEuclideanPoint(
    const typename SpaceT::Point& point);
 
//==============================================================================
template <typename SpaceT>
typename SpaceT::Point toManifoldPoint(
    const typename SpaceT::EuclideanPoint& point);
 
//==============================================================================
template <typename SpaceT>
typename SpaceT::Point integratePosition(
    const typename SpaceT::Point& pos,
    const typename SpaceT::Vector& vel,
    double dt);
 
//==============================================================================
template <typename SpaceT>
typename SpaceT::Vector integrateVelocity(
    const typename SpaceT::Vector& vel,
    const typename SpaceT::Vector& acc,
    double dt);
 
} // namespace math
} // namespace dart
 
#include "dart/math/detail/ConfigurationSpace.hpp"
 
#endif // DART_MATH_CONFIGURATIONSPACE_HPP_