TransformFunction.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_tvm/api.h>
#include <mc_tvm/fwd.h>
 
#include <mc_rbdyn/fwd.h>
 
#include <tvm/function/abstract/Function.h>
 
#include <RBDyn/Jacobian.h>
 
#include <SpaceVecAlg/SpaceVecAlg>
 
namespace mc_tvm
{
 
class MC_TVM_DLLAPI TransformFunction : public tvm::function::abstract::Function
{
public:
  SET_UPDATES(TransformFunction, Value, Velocity, Jacobian, NormalAcceleration)
 
  
  TransformFunction(const mc_rbdyn::RobotFrame & frame);
 
  void reset();
 
  inline const sva::PTransformd & pose() const noexcept { return pose_; }
 
  inline void pose(const sva::PTransformd & pose) noexcept { pose_ = pose; }
 
  inline const Eigen::Vector6d & refVel() const noexcept { return refVel_; }
 
  inline void refVel(const Eigen::Vector6d & refVel) noexcept { refVel_ = refVel; }
 
  inline const Eigen::Vector6d & refAccel() const noexcept { return refAccel_; }
 
  inline void refAccel(const Eigen::Vector6d & refAccel) noexcept { refAccel_ = refAccel; }
 
  inline const mc_rbdyn::RobotFrame & frame() const noexcept { return *frame_; }
 
protected:
  void updateValue();
  void updateVelocity();
  void updateJacobian();
  void updateNormalAcceleration();
 
  mc_rbdyn::ConstRobotFramePtr frame_;
  mc_tvm::RobotFrame & tvm_frame_;
 
  rbd::Jacobian frameJac_;
  Eigen::MatrixXd shortJacMat_;
  Eigen::MatrixXd jacMat_;
  sva::MotionVecd err_p_;
  sva::MotionVecd w_p_p_;
  sva::MotionVecd V_err_p_;
 
  sva::PTransformd pose_;
  Eigen::Vector6d refVel_;
  Eigen::Vector6d refAccel_;
};
 
} // namespace mc_tvm