TemplatedJacobianNode.hpp

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#ifndef DART_DYNAMICS_DETAIL_TEMPLATEDJACOBIAN_HPP_
#define DART_DYNAMICS_DETAIL_TEMPLATEDJACOBIAN_HPP_
 
#include "dart/dynamics/TemplatedJacobianNode.hpp"
 
namespace dart {
namespace dynamics {
 
//==============================================================================
template<class NodeType>
math::Jacobian
TemplatedJacobianNode<NodeType>::getJacobian(
    const Frame* _inCoordinatesOf) const
{
  if(this == _inCoordinatesOf)
    return static_cast<const NodeType*>(this)->getJacobian();
  else if(_inCoordinatesOf->isWorld())
    return static_cast<const NodeType*>(this)->getWorldJacobian();
 
  return math::AdRJac(getTransform(_inCoordinatesOf),
                      static_cast<const NodeType*>(this)->getJacobian());
}
 
//==============================================================================
template<class NodeType>
math::Jacobian
TemplatedJacobianNode<NodeType>::getJacobian(
    const Eigen::Vector3d& _offset) const
{
  math::Jacobian J = static_cast<const NodeType*>(this)->getJacobian();
  J.bottomRows<3>() += J.topRows<3>().colwise().cross(_offset);
 
  return J;
}
 
//==============================================================================
template<class NodeType>
math::Jacobian
TemplatedJacobianNode<NodeType>::getJacobian(
    const Eigen::Vector3d& _offset,
    const Frame* _inCoordinatesOf) const
{
  if(this == _inCoordinatesOf)
    return getJacobian(_offset);
  else if(_inCoordinatesOf->isWorld())
    return getWorldJacobian(_offset);
 
  Eigen::Isometry3d T = getTransform(_inCoordinatesOf);
  T.translation() = - T.linear() * _offset;
 
  return math::AdTJac(T, static_cast<const NodeType*>(this)->getJacobian());
}
 
//==============================================================================
template<class NodeType>
math::Jacobian
TemplatedJacobianNode<NodeType>::getWorldJacobian(
    const Eigen::Vector3d& _offset) const
{
  math::Jacobian J = static_cast<const NodeType*>(this)->getWorldJacobian();
  J.bottomRows<3>() += J.topRows<3>().colwise().cross(
                                      getWorldTransform().linear() * _offset);
 
  return J;
}
 
//==============================================================================
template<class NodeType>
math::LinearJacobian
TemplatedJacobianNode<NodeType>::getLinearJacobian(
    const Frame* _inCoordinatesOf) const
{
  if(this == _inCoordinatesOf)
  {
    const math::Jacobian& J =
        static_cast<const NodeType*>(this)->getJacobian();
 
    return J.bottomRows<3>();
  }
  else if(_inCoordinatesOf->isWorld())
  {
    const math::Jacobian& JWorld =
        static_cast<const NodeType*>(this)->getWorldJacobian();
 
    return JWorld.bottomRows<3>();
  }
 
  const math::Jacobian& J =
      static_cast<const NodeType*>(this)->getJacobian();
 
  return getTransform(_inCoordinatesOf).linear() * J.bottomRows<3>();
}
 
//==============================================================================
template<class NodeType>
math::LinearJacobian
TemplatedJacobianNode<NodeType>::getLinearJacobian(
    const Eigen::Vector3d& _offset,
    const Frame* _inCoordinatesOf) const
{
  const math::Jacobian& J =
      static_cast<const NodeType*>(this)->getJacobian();
 
  math::LinearJacobian JLinear;
  JLinear = J.bottomRows<3>() + J.topRows<3>().colwise().cross(_offset);
 
  if(this == _inCoordinatesOf)
    return JLinear;
 
  return getTransform(_inCoordinatesOf).linear() * JLinear;
}
 
//==============================================================================
template<class NodeType>
math::AngularJacobian
TemplatedJacobianNode<NodeType>::getAngularJacobian(
    const Frame* _inCoordinatesOf) const
{
  if(this == _inCoordinatesOf)
  {
    const math::Jacobian& J =
        static_cast<const NodeType*>(this)->getJacobian();
    return J.topRows<3>();
  }
  else if(_inCoordinatesOf->isWorld())
  {
    const math::Jacobian& JWorld =
        static_cast<const NodeType*>(this)->getWorldJacobian();
    return JWorld.topRows<3>();
  }
 
  const math::Jacobian& J =
      static_cast<const NodeType*>(this)->getJacobian();
 
  return getTransform(_inCoordinatesOf).linear() * J.topRows<3>();
}
 
//==============================================================================
template<class NodeType>
math::Jacobian
TemplatedJacobianNode<NodeType>::getJacobianSpatialDeriv(
    const Frame* _inCoordinatesOf) const
{
  if(this == _inCoordinatesOf)
    return static_cast<const NodeType*>(this)->getJacobianSpatialDeriv();
 
  return math::AdRJac(getTransform(_inCoordinatesOf),
        static_cast<const NodeType*>(this)->getJacobianSpatialDeriv());
}
 
//==============================================================================
template<class NodeType>
math::Jacobian
TemplatedJacobianNode<NodeType>::getJacobianSpatialDeriv(
    const Eigen::Vector3d& _offset) const
{
  math::Jacobian J_d =
      static_cast<const NodeType*>(this)->getJacobianSpatialDeriv();
 
  J_d.bottomRows<3>() += J_d.topRows<3>().colwise().cross(_offset);
 
  return J_d;
}
 
//==============================================================================
template<class NodeType>
math::Jacobian
TemplatedJacobianNode<NodeType>::getJacobianSpatialDeriv(
    const Eigen::Vector3d& _offset,
    const Frame* _inCoordinatesOf) const
{
  if(this == _inCoordinatesOf)
    return getJacobianSpatialDeriv(_offset);
 
  Eigen::Isometry3d T = getTransform(_inCoordinatesOf);
  T.translation() = T.linear() * -_offset;
 
  return math::AdTJac(
        T, static_cast<const NodeType*>(this)->getJacobianSpatialDeriv());
}
 
//==============================================================================
template<class NodeType>
math::Jacobian
TemplatedJacobianNode<NodeType>::getJacobianClassicDeriv(
    const Frame* _inCoordinatesOf) const
{
  if(_inCoordinatesOf->isWorld())
    return static_cast<const NodeType*>(this)->getJacobianClassicDeriv();
 
  return math::AdRInvJac(_inCoordinatesOf->getWorldTransform(),
        static_cast<const NodeType*>(this)->getJacobianClassicDeriv());
}
 
//==============================================================================
template<class NodeType>
math::Jacobian
TemplatedJacobianNode<NodeType>::getJacobianClassicDeriv(
    const Eigen::Vector3d& _offset,
    const Frame* _inCoordinatesOf) const
{
  math::Jacobian J_d =
      static_cast<const NodeType*>(this)->getJacobianClassicDeriv();
 
  const math::Jacobian& J =
      static_cast<const NodeType*>(this)->getWorldJacobian();
 
  const Eigen::Vector3d& w = getAngularVelocity();
  const Eigen::Vector3d& p = (getWorldTransform().linear() * _offset).eval();
 
  J_d.bottomRows<3>() += J_d.topRows<3>().colwise().cross(p)
                         + J.topRows<3>().colwise().cross(w.cross(p));
 
  if(_inCoordinatesOf->isWorld())
    return J_d;
 
  return math::AdRInvJac(_inCoordinatesOf->getWorldTransform(), J_d);
}
 
//==============================================================================
template<class NodeType>
math::LinearJacobian
TemplatedJacobianNode<NodeType>::getLinearJacobianDeriv(
    const Frame* _inCoordinatesOf) const
{
  const math::Jacobian& J_d =
      static_cast<const NodeType*>(this)->getJacobianClassicDeriv();
 
  if(_inCoordinatesOf->isWorld())
    return J_d.bottomRows<3>();
 
  return _inCoordinatesOf->getWorldTransform().linear().transpose()
          * J_d.bottomRows<3>();
}
 
//==============================================================================
template<class NodeType>
math::LinearJacobian
TemplatedJacobianNode<NodeType>::getLinearJacobianDeriv(
    const Eigen::Vector3d& _offset,
    const Frame* _inCoordinatesOf) const
{
  const math::Jacobian& J_d =
      static_cast<const NodeType*>(this)->getJacobianClassicDeriv();
 
  const math::Jacobian& J =
      static_cast<const NodeType*>(this)->getWorldJacobian();
 
  const Eigen::Vector3d& w = getAngularVelocity();
  const Eigen::Vector3d& p = (getWorldTransform().linear() * _offset).eval();
 
  if(_inCoordinatesOf->isWorld())
    return J_d.bottomRows<3>() + J_d.topRows<3>().colwise().cross(p)
           + J.topRows<3>().colwise().cross(w.cross(p));
 
  return _inCoordinatesOf->getWorldTransform().linear().transpose()
         * (J_d.bottomRows<3>() + J_d.topRows<3>().colwise().cross(p)
            + J.topRows<3>().colwise().cross(w.cross(p)));
}
 
//==============================================================================
template<class NodeType>
math::AngularJacobian
TemplatedJacobianNode<NodeType>::getAngularJacobianDeriv(
    const Frame* _inCoordinatesOf) const
{
  const math::Jacobian& J_d =
      static_cast<const NodeType*>(this)->getJacobianClassicDeriv();
 
  if(_inCoordinatesOf->isWorld())
    return J_d.topRows<3>();
 
  return _inCoordinatesOf->getWorldTransform().linear().transpose()
         * J_d.topRows<3>();
}
 
//==============================================================================
template<class NodeType>
TemplatedJacobianNode<NodeType>::TemplatedJacobianNode(BodyNode* bn)
  : Entity(Entity::ConstructAbstract),
    Frame(Frame::ConstructAbstract),
    JacobianNode(bn)
{
  // Do nothing
}
 
} // namespace dynamics
} // namespace dart
 
 
#endif // DART_DYNAMICS_DETAIL_TEMPLATEDJACOBIAN_HPP_