std::pair<Eigen::Vector3d, double> resolveCenterOfPressure(const Eigen::MatrixBase<DerivedTorque> & torque, const Eigen::MatrixBase<DerivedForce> & force, const Eigen::MatrixBase<DerivedNormal> & normal, const Eigen::MatrixBase<DerivedPoint> & point_on_contact_plane)
{
// TODO: implement multi-column version
using namespace Eigen;
if (abs(normal.squaredNorm() - 1.0) > 1e-12) {
throw std::runtime_error("Drake:resolveCenterOfPressure:BadInputs: normal should be a unit vector");
}
Vector3d cop;
double normal_torque_at_cop;
double fz = normal.dot(force);
bool cop_exists = abs(fz) > 1e-12;
if (cop_exists) {
auto torque_at_point_on_contact_plane = torque - point_on_contact_plane.cross(force);
double normal_torque_at_point_on_contact_plane = normal.dot(torque_at_point_on_contact_plane);
auto tangential_torque = torque_at_point_on_contact_plane - normal * normal_torque_at_point_on_contact_plane;
cop = normal.cross(tangential_torque) / fz + point_on_contact_plane;
auto torque_at_cop = torque - cop.cross(force);
normal_torque_at_cop = normal.dot(torque_at_cop);
}
else {
cop.setConstant(std::numeric_limits<double>::quiet_NaN());
normal_torque_at_cop = std::numeric_limits<double>::quiet_NaN();
}
return std::pair<Vector3d, double>(cop, normal_torque_at_cop);
}
float residualWithoutKWeight(
const Eigen::MatrixBase<Derived> &weights,
const Eigen::MatrixBase<Derived2> &sample,
const Scalar output,
const int k)
{
return weights.dot(sample) - output - weights(k, 0)*sample(k, 0);
}
inline
typename Eigen::internal::scalar_product_traits<
typename Eigen::internal::traits<Derived>::Scalar,
typename Eigen::internal::traits<OtherDerived>::Scalar
>::ReturnType
static dot(
const Eigen::MatrixBase<Derived>& mat,
const Eigen::MatrixBase<OtherDerived>& other) {
return mat.dot(other);
}
auto pardot(Eigen::MatrixBase<V1> const& A, Eigen::MatrixBase<V2> const& B, int chunkSize = 1024) {
if(A.rows() < 10*chunkSize) {
return A.dot(B);
}
using T = std::decay_t<decltype(A(0))>;
struct r_struct{T val{0};};
SmallVector<ReductionVariable<r_struct>, 8> S(yafel::config::num_cores, r_struct{0});
parfor(0, A.rows(), [&](auto i) {
auto id = worker_global::worker_id;
S[id].val += A(i)*B(i);
},getGlobalScheduler(), chunkSize);
T total{0};
for(auto &s : S){
total += s.val;
}
return total;
}
typename T1::Scalar inner_prod(const Eigen::MatrixBase<T1> &x, const Eigen::MatrixBase<T2> &y) {
return x.dot(y);
}