libkido-dev 0.1.0+dfsg-2build9 / usr / include / kido / dynamics / EulerJoint.hpp

/*
 * Copyright (c) 2013-2015, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author(s): Jeongseok Lee <jslee02@gmail.com>
 *
 * Georgia Tech Graphics Lab and Humanoid Robotics Lab
 *
 * Directed by Prof. C. Karen Liu and Prof. Mike Stilman
 * <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
 *
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 *   without modification, are permitted provided that the following
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 *   * 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.
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#ifndef KIDO_DYNAMICS_EULERJOINT_HPP_
#define KIDO_DYNAMICS_EULERJOINT_HPP_

#include <string>

#include "kido/dynamics/MultiDofJoint.hpp"

namespace kido {
namespace dynamics {

/// class EulerJoint
class EulerJoint : public MultiDofJoint<3>
{
public:

  friend class Skeleton;

  /// Axis order
  enum AxisOrder
  {
    AO_ZYX = 0,
    AO_XYZ = 1
  };

  struct UniqueProperties
  {
    /// Euler angle order
    AxisOrder mAxisOrder;

    /// Constructor
    UniqueProperties(AxisOrder _axisOrder = AO_XYZ);

    virtual ~UniqueProperties() = default;
  };

  struct Properties : MultiDofJoint<3>::Properties, EulerJoint::UniqueProperties
  {
    /// Composed constructor
    Properties(
        const MultiDofJoint<3>::Properties& _multiDofProperties =
                                                MultiDofJoint<3>::Properties(),
        const EulerJoint::UniqueProperties& _eulerJointProperties =
                                                EulerJoint::UniqueProperties());

    virtual ~Properties() = default;
  };

  EulerJoint(const EulerJoint&) = delete;

  /// Destructor
  virtual ~EulerJoint();

  /// Set the Properties of this EulerJoint
  void setProperties(const Properties& _properties);

  /// Set the Properties of this EulerJoint
  void setProperties(const UniqueProperties& _properties);

  /// Get the Properties of this EulerJoint
  Properties getEulerJointProperties() const;

  /// Copy the Properties of another EulerJoint
  void copy(const EulerJoint& _otherJoint);

  /// Copy the Properties of another EulerJoint
  void copy(const EulerJoint* _otherJoint);

  /// Same as copy(const EulerJoint&)
  EulerJoint& operator=(const EulerJoint& _otherJoint);

  // Documentation inherited
  virtual const std::string& getType() const override;

  /// Get joint type for this class
  static const std::string& getStaticType();

  // Documentation inherited
  virtual bool isCyclic(size_t _index) const override;

  /// Set the axis order
  /// \param[in] _order Axis order
  /// \param[in] _renameDofs If true, the names of dofs in this joint will be
  /// renmaed according to the axis order.
  void setAxisOrder(AxisOrder _order, bool _renameDofs = true);

  /// Return the axis order
  AxisOrder getAxisOrder() const;

  /// Convert a rotation into a 3D vector that can be used to set the positions
  /// of an EulerJoint with the specified AxisOrder. The positions returned by
  /// this function will result in a relative transform of
  /// getTransformFromParentBodyNode() * _rotation * getTransformFromChildBodyNode().inverse()
  /// between the parent BodyNode and the child BodyNode frames when applied to
  /// an EulerJoint with the correct axis ordering.
  template <typename RotationType>
  static Eigen::Vector3d convertToPositions(
      const RotationType& _rotation, AxisOrder _ordering)
  {
    switch(_ordering)
    {
      case AO_XYZ:
        return math::matrixToEulerXYZ(_rotation);
      case AO_ZYX:
        return math::matrixToEulerZYX(_rotation);
      default:
        dtwarn << "[EulerJoint::convertToPositions] Unsupported AxisOrder ("
               << _ordering << "), returning a zero vector\n";
        return Eigen::Vector3d::Zero();
    }
  }

  /// This is a version of EulerJoint::convertToPositions(const RotationType&,
  /// AxisOrder) which will use the AxisOrder belonging to the joint instance
  /// that it gets called on.
  template <typename RotationType>
  Eigen::Vector3d convertToPositions(const RotationType& _rotation) const
  {
    return convertToPositions(_rotation, mEulerP.mAxisOrder);
  }

  /// Convert a set of Euler angle positions into a transform
  static Eigen::Isometry3d convertToTransform(const Eigen::Vector3d& _positions,
                                           AxisOrder _ordering);

  /// This is a version of EulerJoint::convertToRotation(const Eigen::Vector3d&,
  /// AxisOrder) which will use the AxisOrder belonging to the joint instance
  /// that it gets called on.
  Eigen::Isometry3d convertToTransform(const Eigen::Vector3d& _positions) const;

  /// Convert a set of Euler angle positions into a rotation matrix
  static Eigen::Matrix3d convertToRotation(const Eigen::Vector3d& _positions,
                                           AxisOrder _ordering);

  Eigen::Matrix3d convertToRotation(const Eigen::Vector3d& _positions) const;

  // Documentation inherited
  Eigen::Matrix<double, 6, 3> getLocalJacobianStatic(
      const Eigen::Vector3d& _positions) const override;

protected:

  /// Constructor called by Skeleton class
  EulerJoint(const Properties& _properties);

  // Documentation inherited
  virtual Joint* clone() const override;

  using MultiDofJoint::getLocalJacobianStatic;

  /// Set the names of this joint's DegreesOfFreedom. Used during construction
  /// and when axis order is changed.
  virtual void updateDegreeOfFreedomNames() override;

  // Documentation inherited
  virtual void updateLocalTransform() const override;

  // Documentation inherited
  virtual void updateLocalJacobian(bool =true) const override;

  // Documentation inherited
  virtual void updateLocalJacobianTimeDeriv() const override;

protected:

  /// EulerJoint Properties
  UniqueProperties mEulerP;

public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}  // namespace dynamics
}  // namespace kido

#endif  // KIDO_DYNAMICS_EULERJOINT_HPP_