static void algo(const se3::JointModelBase<JointModel> & jmodel,
Eigen::VectorXd & q,
const Eigen::VectorXd & lowerLimits,
const Eigen::VectorXd & upperLimits)
{
jmodel.jointConfigSelector(q) = jmodel.randomConfiguration(jmodel.jointConfigSelector(lowerLimits),
jmodel.jointConfigSelector(upperLimits)
);
}
static void algo(const se3::JointModelBase<JointModel> & jmodel,
const Eigen::VectorXd & q0,
const Eigen::VectorXd & q1,
const double u,
Eigen::VectorXd & result)
{
jmodel.jointConfigSelector(result) = jmodel.interpolate(q0, q1, u);
}
static void algo(const se3::JointModelBase<JointModel> & jmodel,
const Eigen::VectorXd & q,
const Eigen::VectorXd & v,
Eigen::VectorXd & result)
{
jmodel.jointConfigSelector(result) = jmodel.integrate(q, v);
}
static void algo(const se3::JointModelBase<JointModel> & jmodel,
se3::JointDataBase<typename JointModel::JointData> &,
const se3::Model &,
se3::Data & data,
const Eigen::VectorXd &) // TODO: make joint limits depend explicitely on the current state (q,v)
{
using namespace Eigen;
using namespace se3;
// TODO: as limits are static, no need of q, nor computations
jmodel.jointVelocitySelector(data.effortLimit) = jmodel.maxEffortLimit();
jmodel.jointVelocitySelector(data.velocityLimit) = jmodel.maxVelocityLimit();
jmodel.jointConfigSelector(data.lowerPositionLimit) = jmodel.lowerPosLimit(); // if computation needed, do it here, or may be in lowerPosLimit
jmodel.jointConfigSelector(data.upperPositionLimit) = jmodel.upperPosLimit();
}