/* ************************************************************************** */
void Pose2MobileVetLinArm::forwardKinematics(const Pose2Vector& p,
boost::optional<const gtsam::Vector&> v,
std::vector<gtsam::Pose3>& px, boost::optional<std::vector<gtsam::Vector3>&> vx,
boost::optional<std::vector<gtsam::Matrix>&> J_px_p,
boost::optional<std::vector<gtsam::Matrix>&> J_vx_p,
boost::optional<std::vector<gtsam::Matrix>&> J_vx_v) const {
if (v)
throw runtime_error("[Pose2MobileArm] TODO: velocity not implemented");
if (!v && (vx || J_vx_p || J_vx_v))
throw runtime_error("[Pose2MobileArm] ERROR: only ask for velocity in workspace given velocity in "
"configuration space");
// space for output
px.resize(nr_links());
if (vx) vx->resize(nr_links());
if (J_px_p) J_px_p->assign(nr_links(), Matrix::Zero(6, dof()));
if (J_vx_p) J_vx_p->assign(nr_links(), Matrix::Zero(3, dof()));
if (J_vx_v) J_vx_v->assign(nr_links(), Matrix::Zero(3, dof()));
// vehicle & arm base pose
Pose3 veh_base, tso_base, arm_base;
Matrix63 Hveh_base;
Matrix64 Htso_base, Harm_base;
if (J_px_p || J_vx_p || J_vx_v) {
veh_base = computeBasePose3(p.pose(), Hveh_base);
tso_base = liftBasePose3(p.pose(), p.configuration()(0), base_T_torso_, reverse_linact_,
Htso_base);
Matrix6 H_tso_comp;
arm_base = tso_base.compose(torso_T_arm_, H_tso_comp);
Harm_base = H_tso_comp * Htso_base;
} else {
veh_base = computeBasePose3(p.pose());
tso_base = liftBasePose3(p.pose(), p.configuration()(0), base_T_torso_, reverse_linact_);
arm_base = tso_base.compose(torso_T_arm_);
}
// veh base link
px[0] = veh_base;
if (J_px_p) (*J_px_p)[0].block<6,3>(0,0) = Hveh_base;
// torso link
px[1] = tso_base;
if (J_px_p) (*J_px_p)[1].block<6,4>(0,0) = Htso_base;
// arm links
vector<Pose3> armjpx;
vector<Matrix> Jarm_jpx_jp;
arm_.updateBasePose(arm_base);
arm_.forwardKinematics(p.configuration().tail(arm_.dof()), boost::none, armjpx, boost::none,
J_px_p ? boost::optional<vector<Matrix>&>(Jarm_jpx_jp) : boost::none);
for (size_t i = 0; i < arm_.dof(); i++) {
px[i+2] = armjpx[i];
if (J_px_p) {
// see compose's jacobian
(*J_px_p)[i+2].block<6,4>(0,0) = (armjpx[i].inverse() * arm_base).AdjointMap() * Harm_base;
(*J_px_p)[i+2].block(0,4,6,arm_.dof()) = Jarm_jpx_jp[i];
}
}
}
/* ************************************************************************** */
void Pose2MobileArm::forwardKinematics(
const Pose2Vector& p, boost::optional<const gtsam::Vector&> v,
std::vector<gtsam::Pose3>& px, boost::optional<std::vector<gtsam::Vector3>&> vx,
boost::optional<std::vector<gtsam::Matrix>&> J_px_p,
boost::optional<std::vector<gtsam::Matrix>&> J_vx_p,
boost::optional<std::vector<gtsam::Matrix>&> J_vx_v) const {
if (v)
throw runtime_error("[Pose2MobileArm] TODO: velocity not implemented");
if (!v && (vx || J_vx_p || J_vx_v))
throw runtime_error("[Pose2MobileArm] ERROR: only ask for velocity in workspace given velocity in "
"configuration space");
// space for output
px.resize(nr_links());
if (vx) vx->resize(nr_links());
if (J_px_p) J_px_p->assign(nr_links(), Matrix::Zero(6, dof()));
if (J_vx_p) J_vx_p->assign(nr_links(), Matrix::Zero(3, dof()));
if (J_vx_v) J_vx_v->assign(nr_links(), Matrix::Zero(3, dof()));
// vehicle & arm base pose
Pose3 veh_base, arm_base;
Matrix63 Hveh_base, Harm_base;
if (J_px_p || J_vx_p || J_vx_v) {
veh_base = computeBasePose3(p.pose(), Hveh_base);
arm_base = computeBaseTransPose3(p.pose(), base_T_arm_, Harm_base);
} else {
veh_base = computeBasePose3(p.pose());
arm_base = computeBaseTransPose3(p.pose(), base_T_arm_);
}
// call arm pose and velocity, for arm links
// px[0] = base_pose3; px[i] = arm_base * px_arm[i-1]
// vx[0] = v(0:1,0); vx[i] = vx[0] + angular x arm_base_pos + arm_base_rot * vx_arm[i-1]
// veh base link
px[0] = veh_base;
if (J_px_p) (*J_px_p)[0].block<6,3>(0,0) = Hveh_base;
if (vx) {
(*vx)[0] = Vector3((*v)[0], (*v)[1], 0.0);
// (*J_vx_p)[0] is zero
if (J_vx_v)
(*J_vx_v)[0].block<2,2>(0,0) = Matrix2::Identity();
}
// arm links
vector<Pose3> armjpx;
vector<Vector3> armjvx;
vector<Matrix> Jarm_jpx_jp, Jarm_jvx_jp, Jarm_jvx_jv;
arm_.updateBasePose(arm_base);
if (v) {
const Vector varm = v->tail(arm_.dof());
arm_.forwardKinematics(p.configuration(), boost::optional<const Vector&>(varm),
armjpx, vx ? boost::optional<vector<Vector3>&>(armjvx) : boost::none,
J_px_p ? boost::optional<vector<Matrix>&>(Jarm_jpx_jp) : boost::none,
J_vx_p ? boost::optional<vector<Matrix>&>(Jarm_jvx_jp) : boost::none,
J_vx_v ? boost::optional<vector<Matrix>&>(Jarm_jvx_jv) : boost::none);
} else {
arm_.forwardKinematics(p.configuration(), boost::none,
armjpx, vx ? boost::optional<vector<Vector3>&>(armjvx) : boost::none,
J_px_p ? boost::optional<vector<Matrix>&>(Jarm_jpx_jp) : boost::none);
}
for (size_t i = 0; i < arm_.dof(); i++) {
px[i+1] = armjpx[i];
if (J_px_p) {
// see compose's jacobian
(*J_px_p)[i+1].block<6,3>(0,0) = (armjpx[i].inverse() * arm_base).AdjointMap() * Harm_base;
(*J_px_p)[i+1].block(0,3,6,arm_.dof()) = Jarm_jpx_jp[i];
}
if (vx) {
//(*vx)[i+1] = Vector3((*v)[0], (*v)[1], 0.0) + armjvx[i];
}
}
}