Commit eec57deb authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

algorithm/joint-config: dintegrateTransport fix function call

parent a02a2f5a
......@@ -371,7 +371,32 @@ namespace pinocchio
const Eigen::MatrixBase<JacobianMatrixType2> & Jout,
const ArgumentPosition arg);
/**
*
* @brief Transport an input matrix to the manifold defined by the dIntegrate computation.
*
* @details This input and output has to be interpreted in terms of Lie group, not vector space: as such,
* Thus, dIntegrate(q, v, J, arg) creates a manifold manifold M given by a small variation of the configuration vector or the tangent vector into the tangent space at identity.
* We are moving our input matrix onto this manifold M.
*
* @param[in] model Model of the kinematic tree on which the integration operation is performed.
* @param[in] q Initial configuration (size model.nq)
* @param[in] v Joint velocity (size model.nv)
* @param[out] Jin Input Matrix (number of rows = model.nv).
* @param[out] Jout Output Matrix (same size as Jin).
* @param[in] arg Argument (either q or v) with respect to which the differentiation manifold M is generated.
*
*/
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType1, typename JacobianMatrixType2>
void dIntegrateTransport(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<JacobianMatrixType1> & Jin,
const Eigen::MatrixBase<JacobianMatrixType2> & Jout,
const ArgumentPosition arg)
{
dIntegrateTransport<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType,JacobianMatrixType1,JacobianMatrixType2>(model, q.derived(), v.derived(), Jin.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType2,Jout),arg);
}
/**
*
......
......@@ -175,7 +175,7 @@ namespace pinocchio
void dIntegrateTransport(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<JacobianMatrixType1> & J,
const Eigen::MatrixBase<JacobianMatrixType1> & Jin,
const Eigen::MatrixBase<JacobianMatrixType2> & Jout,
const ArgumentPosition arg)
{
......@@ -188,8 +188,8 @@ namespace pinocchio
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef typename Model::JointIndex JointIndex;
typedef dIntegrateStep<LieGroup_t,ConfigVectorType,TangentVectorType,JacobianMatrixType1,JacobianMatrixType2> Algo;
typename Algo::ArgsType args(q.derived(),v.derived(),Jin.derived(),PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType,Jout),arg);
typedef dIntegrateTransportStep<LieGroup_t,ConfigVectorType,TangentVectorType,JacobianMatrixType1,JacobianMatrixType2> Algo;
typename Algo::ArgsType args(q.derived(),v.derived(),Jin.derived(),PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType2,Jout),arg);
for(JointIndex i=1; i<(JointIndex)model.njoints; ++i)
{
Algo::run(model.joints[i], args);
......
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