260 lines
10 KiB
C++
260 lines
10 KiB
C++
/*****************************************************************************
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* \file
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* This file contains the definition of classes for a
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* Rall Algebra of (subset of) the classes defined in frames,
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* i.e. classes that contain a set (value,derivative,2nd derivative)
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* and define operations on that set
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* this classes are usefull for automatic differentiation ( <-> symbolic diff ,
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* <-> numeric diff).
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* Defines VectorAcc, RotationAcc, FrameAcc, doubleAcc.
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* Look at the corresponding classes Vector Rotation Frame Twist and
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* Wrench for the semantics of the methods.
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*
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* It also contains the 2nd derivative <-> RFrames.h
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*
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* \author
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* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
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*
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* \version
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* ORO_Geometry V0.2
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*
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* \par History
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* - $log$
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*
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* \par Release
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* $Id: frameacc.hpp 19905 2009-04-23 13:29:54Z ben2610 $
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* $Name: $
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****************************************************************************/
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#ifndef RRFRAMES_H
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#define RRFRAMES_H
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#include "utilities/rall2d.h"
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#include "frames.hpp"
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namespace KDL {
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class TwistAcc;
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typedef Rall2d<double,double,double> doubleAcc;
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class VectorAcc
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{
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public:
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Vector p; //!< position vector
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Vector v; //!< velocity vector
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Vector dv; //!< acceleration vector
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public:
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VectorAcc():p(),v(),dv() {}
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explicit VectorAcc(const Vector& _p):p(_p),v(Vector::Zero()),dv(Vector::Zero()) {}
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VectorAcc(const Vector& _p,const Vector& _v):p(_p),v(_v),dv(Vector::Zero()) {}
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VectorAcc(const Vector& _p,const Vector& _v,const Vector& _dv):
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p(_p),v(_v),dv(_dv) {}
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IMETHOD VectorAcc& operator = (const VectorAcc& arg);
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IMETHOD VectorAcc& operator = (const Vector& arg);
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IMETHOD VectorAcc& operator += (const VectorAcc& arg);
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IMETHOD VectorAcc& operator -= (const VectorAcc& arg);
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IMETHOD static VectorAcc Zero();
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IMETHOD void ReverseSign();
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IMETHOD doubleAcc Norm();
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IMETHOD friend VectorAcc operator + (const VectorAcc& r1,const VectorAcc& r2);
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IMETHOD friend VectorAcc operator - (const VectorAcc& r1,const VectorAcc& r2);
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IMETHOD friend VectorAcc operator + (const Vector& r1,const VectorAcc& r2);
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IMETHOD friend VectorAcc operator - (const Vector& r1,const VectorAcc& r2);
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IMETHOD friend VectorAcc operator + (const VectorAcc& r1,const Vector& r2);
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IMETHOD friend VectorAcc operator - (const VectorAcc& r1,const Vector& r2);
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IMETHOD friend VectorAcc operator * (const VectorAcc& r1,const VectorAcc& r2);
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IMETHOD friend VectorAcc operator * (const VectorAcc& r1,const Vector& r2);
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IMETHOD friend VectorAcc operator * (const Vector& r1,const VectorAcc& r2);
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IMETHOD friend VectorAcc operator * (const VectorAcc& r1,double r2);
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IMETHOD friend VectorAcc operator * (double r1,const VectorAcc& r2);
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IMETHOD friend VectorAcc operator * (const doubleAcc& r1,const VectorAcc& r2);
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IMETHOD friend VectorAcc operator * (const VectorAcc& r2,const doubleAcc& r1);
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IMETHOD friend VectorAcc operator*(const Rotation& R,const VectorAcc& x);
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IMETHOD friend VectorAcc operator / (const VectorAcc& r1,double r2);
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IMETHOD friend VectorAcc operator / (const VectorAcc& r2,const doubleAcc& r1);
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IMETHOD friend bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps=epsilon);
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IMETHOD friend bool Equal(const Vector& r1,const VectorAcc& r2,double eps=epsilon);
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IMETHOD friend bool Equal(const VectorAcc& r1,const Vector& r2,double eps=epsilon);
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IMETHOD friend VectorAcc operator - (const VectorAcc& r);
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IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const VectorAcc& rhs);
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IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const Vector& rhs);
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IMETHOD friend doubleAcc dot(const Vector& lhs,const VectorAcc& rhs);
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};
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class RotationAcc
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{
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public:
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Rotation R; //!< rotation matrix
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Vector w; //!< angular velocity vector
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Vector dw; //!< angular acceration vector
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public:
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RotationAcc():R(),w() {}
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explicit RotationAcc(const Rotation& R_):R(R_),w(Vector::Zero()){}
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RotationAcc(const Rotation& R_,const Vector& _w,const Vector& _dw):
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R(R_),w(_w),dw(_dw) {}
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IMETHOD RotationAcc& operator = (const RotationAcc& arg);
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IMETHOD RotationAcc& operator = (const Rotation& arg);
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IMETHOD static RotationAcc Identity();
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IMETHOD RotationAcc Inverse() const;
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IMETHOD VectorAcc Inverse(const VectorAcc& arg) const;
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IMETHOD VectorAcc Inverse(const Vector& arg) const;
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IMETHOD VectorAcc operator*(const VectorAcc& arg) const;
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IMETHOD VectorAcc operator*(const Vector& arg) const;
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// Rotations
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// The SetRot.. functions set the value of *this to the appropriate rotation matrix.
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// The Rot... static functions give the value of the appropriate rotation matrix back.
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// The DoRot... functions apply a rotation R to *this,such that *this = *this * R.
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// IMETHOD void DoRotX(const doubleAcc& angle);
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// IMETHOD void DoRotY(const doubleAcc& angle);
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// IMETHOD void DoRotZ(const doubleAcc& angle);
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// IMETHOD static RRotation RotX(const doubleAcc& angle);
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// IMETHOD static RRotation RotY(const doubleAcc& angle);
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// IMETHOD static RRotation RotZ(const doubleAcc& angle);
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// IMETHOD void SetRot(const Vector& rotaxis,const doubleAcc& angle);
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// Along an arbitrary axes. The norm of rotvec is neglected.
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// IMETHOD static RotationAcc Rot(const Vector& rotvec,const doubleAcc& angle);
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// rotvec has arbitrary norm
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// rotation around a constant vector !
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// IMETHOD static RotationAcc Rot2(const Vector& rotvec,const doubleAcc& angle);
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// rotvec is normalized.
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// rotation around a constant vector !
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IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const RotationAcc& r2);
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IMETHOD friend RotationAcc operator* (const Rotation& r1,const RotationAcc& r2);
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IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const Rotation& r2);
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IMETHOD friend bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps=epsilon);
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IMETHOD friend bool Equal(const Rotation& r1,const RotationAcc& r2,double eps=epsilon);
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IMETHOD friend bool Equal(const RotationAcc& r1,const Rotation& r2,double eps=epsilon);
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IMETHOD TwistAcc Inverse(const TwistAcc& arg) const;
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IMETHOD TwistAcc Inverse(const Twist& arg) const;
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IMETHOD TwistAcc operator * (const TwistAcc& arg) const;
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IMETHOD TwistAcc operator * (const Twist& arg) const;
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};
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class FrameAcc
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{
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public:
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RotationAcc M; //!< Rotation,angular velocity, and angular acceleration of frame.
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VectorAcc p; //!< Translation, velocity and acceleration of origin.
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public:
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FrameAcc(){}
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explicit FrameAcc(const Frame& T_):M(T_.M),p(T_.p) {}
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FrameAcc(const Frame& T_,const Twist& _t,const Twist& _dt):
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M(T_.M,_t.rot,_dt.rot),p(T_.p,_t.vel,_dt.vel) {}
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FrameAcc(const RotationAcc& _M,const VectorAcc& _p):M(_M),p(_p) {}
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IMETHOD FrameAcc& operator = (const FrameAcc& arg);
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IMETHOD FrameAcc& operator = (const Frame& arg);
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IMETHOD static FrameAcc Identity();
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IMETHOD FrameAcc Inverse() const;
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IMETHOD VectorAcc Inverse(const VectorAcc& arg) const;
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IMETHOD VectorAcc operator*(const VectorAcc& arg) const;
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IMETHOD VectorAcc operator*(const Vector& arg) const;
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IMETHOD VectorAcc Inverse(const Vector& arg) const;
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IMETHOD Frame GetFrame() const;
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IMETHOD Twist GetTwist() const;
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IMETHOD Twist GetAccTwist() const;
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IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const FrameAcc& f2);
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IMETHOD friend FrameAcc operator * (const Frame& f1,const FrameAcc& f2);
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IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const Frame& f2);
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IMETHOD friend bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps=epsilon);
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IMETHOD friend bool Equal(const Frame& r1,const FrameAcc& r2,double eps=epsilon);
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IMETHOD friend bool Equal(const FrameAcc& r1,const Frame& r2,double eps=epsilon);
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IMETHOD TwistAcc Inverse(const TwistAcc& arg) const;
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IMETHOD TwistAcc Inverse(const Twist& arg) const;
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IMETHOD TwistAcc operator * (const TwistAcc& arg) const;
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IMETHOD TwistAcc operator * (const Twist& arg) const;
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};
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//very similar to Wrench class.
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class TwistAcc
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{
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public:
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VectorAcc vel; //!< translational velocity and its 1st and 2nd derivative
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VectorAcc rot; //!< rotational velocity and its 1st and 2nd derivative
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public:
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TwistAcc():vel(),rot() {};
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TwistAcc(const VectorAcc& _vel,const VectorAcc& _rot):vel(_vel),rot(_rot) {};
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IMETHOD TwistAcc& operator-=(const TwistAcc& arg);
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IMETHOD TwistAcc& operator+=(const TwistAcc& arg);
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IMETHOD friend TwistAcc operator*(const TwistAcc& lhs,double rhs);
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IMETHOD friend TwistAcc operator*(double lhs,const TwistAcc& rhs);
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IMETHOD friend TwistAcc operator/(const TwistAcc& lhs,double rhs);
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IMETHOD friend TwistAcc operator*(const TwistAcc& lhs,const doubleAcc& rhs);
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IMETHOD friend TwistAcc operator*(const doubleAcc& lhs,const TwistAcc& rhs);
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IMETHOD friend TwistAcc operator/(const TwistAcc& lhs,const doubleAcc& rhs);
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IMETHOD friend TwistAcc operator+(const TwistAcc& lhs,const TwistAcc& rhs);
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IMETHOD friend TwistAcc operator-(const TwistAcc& lhs,const TwistAcc& rhs);
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IMETHOD friend TwistAcc operator-(const TwistAcc& arg);
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IMETHOD friend void SetToZero(TwistAcc& v);
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static IMETHOD TwistAcc Zero();
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IMETHOD void ReverseSign();
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IMETHOD TwistAcc RefPoint(const VectorAcc& v_base_AB);
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// Changes the reference point of the RTwist.
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// The RVector v_base_AB is expressed in the same base as the RTwist
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// The RVector v_base_AB is a RVector from the old point to
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// the new point.
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// Complexity : 6M+6A
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IMETHOD friend bool Equal(const TwistAcc& a,const TwistAcc& b,double eps=epsilon);
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IMETHOD friend bool Equal(const Twist& a,const TwistAcc& b,double eps=epsilon);
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IMETHOD friend bool Equal(const TwistAcc& a,const Twist& b,double eps=epsilon);
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IMETHOD Twist GetTwist() const;
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IMETHOD Twist GetTwistDot() const;
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friend class RotationAcc;
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friend class FrameAcc;
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};
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#ifdef KDL_INLINE
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#include "frameacc.inl"
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#endif
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}
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#endif
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