CartesianAcceleration.cpp

#include "state_representation/space/cartesian/CartesianAcceleration.hpp"
#include "state_representation/exceptions/EmptyStateException.hpp"
 
using namespace state_representation::exceptions;
 
namespace state_representation {
CartesianAcceleration::CartesianAcceleration() {
  this->set_type(StateType::CARTESIAN_ACCELERATION);
}
 
CartesianAcceleration::CartesianAcceleration(const std::string& name, const std::string& reference) :
    CartesianState(name, reference) {
  this->set_type(StateType::CARTESIAN_ACCELERATION);
}
 
CartesianAcceleration::CartesianAcceleration(
    const std::string& name, const Eigen::Vector3d& linear_acceleration, const std::string& reference
) : CartesianState(name, reference) {
  this->set_type(StateType::CARTESIAN_ACCELERATION);
  this->set_linear_acceleration(linear_acceleration);
}
 
CartesianAcceleration::CartesianAcceleration(
    const std::string& name, const Eigen::Vector3d& linear_acceleration, const Eigen::Vector3d& angular_acceleration,
    const std::string& reference
) : CartesianState(name, reference) {
  this->set_type(StateType::CARTESIAN_ACCELERATION);
  this->set_linear_acceleration(linear_acceleration);
  this->set_angular_acceleration(angular_acceleration);
}
 
CartesianAcceleration::CartesianAcceleration(
    const std::string& name, const Eigen::Matrix<double, 6, 1>& acceleration, const std::string& reference
) : CartesianState(name, reference) {
  this->set_type(StateType::CARTESIAN_ACCELERATION);
  this->set_acceleration(acceleration);
}
 
CartesianAcceleration::CartesianAcceleration(const CartesianState& state) : CartesianState(state) {
  // set all the state variables to 0 except linear and angular velocities
  this->set_type(StateType::CARTESIAN_ACCELERATION);
  this->set_zero();
  this->set_acceleration(state.get_acceleration());
  this->set_empty(state.is_empty());
}
 
CartesianAcceleration::CartesianAcceleration(const CartesianAcceleration& acceleration) :
    CartesianAcceleration(static_cast<const CartesianState&>(acceleration)) {}
 
CartesianAcceleration::CartesianAcceleration(const CartesianTwist& twist) : CartesianAcceleration(twist / std::chrono::seconds(1)) {}
 
CartesianAcceleration CartesianAcceleration::Zero(const std::string& name, const std::string& reference) {
  return CartesianState::Identity(name, reference);
}
 
CartesianAcceleration CartesianAcceleration::Random(const std::string& name, const std::string& reference) {
  // separating in the two lines in needed to avoid compilation error due to ambiguous constructor call
  Eigen::Matrix<double, 6, 1> random = Eigen::Matrix<double, 6, 1>::Random();
  return CartesianAcceleration(name, random, reference);
}
 
CartesianAcceleration& CartesianAcceleration::operator+=(const CartesianAcceleration& acceleration) {
  this->CartesianState::operator+=(acceleration);
  return (*this);
}
 
CartesianAcceleration CartesianAcceleration::operator+(const CartesianAcceleration& acceleration) const {
  return this->CartesianState::operator+(acceleration);
}
 
CartesianAcceleration& CartesianAcceleration::operator-=(const CartesianAcceleration& acceleration) {
  this->CartesianState::operator-=(acceleration);
  return (*this);
}
 
CartesianAcceleration CartesianAcceleration::operator-(const CartesianAcceleration& acceleration) const {
  return this->CartesianState::operator-(acceleration);
}
 
CartesianAcceleration& CartesianAcceleration::operator*=(double lambda) {
  this->CartesianState::operator*=(lambda);
  return (*this);
}
 
CartesianAcceleration CartesianAcceleration::operator*(double lambda) const {
  return this->CartesianState::operator*(lambda);
}
 
CartesianAcceleration& CartesianAcceleration::operator/=(double lambda) {
  this->CartesianState::operator/=(lambda);
  return (*this);
}
 
CartesianAcceleration CartesianAcceleration::operator/(double lambda) const {
  return this->CartesianState::operator/(lambda);
}
 
CartesianAcceleration& CartesianAcceleration::operator*=(const Eigen::Matrix<double, 6, 6>& lambda) {
  // sanity check
  if (this->is_empty()) {
    throw EmptyStateException(this->get_name() + " state is empty");
  }
  // operation
  this->set_linear_acceleration(lambda.block<3, 3>(0, 0) * this->get_linear_acceleration());
  this->set_angular_acceleration(lambda.block<3, 3>(3, 3) * this->get_angular_acceleration());
  return (*this);
}
 
CartesianTwist CartesianAcceleration::operator*(const std::chrono::nanoseconds& dt) const {
  // sanity check
  if (this->is_empty()) {
    throw EmptyStateException(this->get_name() + " state is empty");
  }
  // operations
  CartesianTwist twist(this->get_name(), this->get_reference_frame());
  // convert the period to a double with the second as reference
  double period = dt.count();
  period /= 1e9;
  // convert the acceleration into a twist
  twist.set_linear_velocity(period * this->get_linear_acceleration());
  twist.set_angular_velocity(period * this->get_angular_acceleration());
  return twist;
}
 
void CartesianAcceleration::clamp(
    double max_linear, double max_angular, double linear_noise_ratio, double angular_noise_ratio
) {
  // clamp linear
  this->clamp_state_variable(max_linear, CartesianStateVariable::LINEAR_ACCELERATION, linear_noise_ratio);
  // clamp angular
  this->clamp_state_variable(max_angular, CartesianStateVariable::ANGULAR_ACCELERATION, angular_noise_ratio);
}
 
CartesianAcceleration CartesianAcceleration::clamped(
    double max_linear, double max_angular, double linear_noise_ratio, double angular_noise_ratio
) const {
  CartesianAcceleration result(*this);
  result.clamp(max_linear, max_angular, linear_noise_ratio, angular_noise_ratio);
  return result;
}
 
CartesianAcceleration CartesianAcceleration::copy() const {
  CartesianAcceleration result(*this);
  return result;
}
 
Eigen::VectorXd CartesianAcceleration::data() const {
  return this->get_acceleration();
}
 
void CartesianAcceleration::set_data(const Eigen::VectorXd& data) {
  if (data.size() != 6) {
    throw IncompatibleSizeException(
        "Input is of incorrect size: expected 6, given " + std::to_string(data.size()));
  }
  this->set_acceleration(data);
}
 
void CartesianAcceleration::set_data(const std::vector<double>& data) {
  this->set_data(Eigen::VectorXd::Map(data.data(), data.size()));
}
 
CartesianAcceleration CartesianAcceleration::inverse() const {
  return this->CartesianState::inverse();
}
 
std::ostream& operator<<(std::ostream& os, const CartesianAcceleration& acceleration) {
  if (acceleration.is_empty()) {
    os << "Empty CartesianAcceleration";
  } else {
    os << acceleration.get_name() << " CartesianTwist expressed in " << acceleration.get_reference_frame() << " frame"
       << std::endl;
    os << "linear_velocity: (" << acceleration.get_linear_acceleration()(0) << ", ";
    os << acceleration.get_linear_acceleration()(1) << ", ";
    os << acceleration.get_linear_acceleration()(2) << ")" << std::endl;
    os << "angular_velocity: (" << acceleration.get_angular_acceleration()(0) << ", ";
    os << acceleration.get_angular_acceleration()(1) << ", ";
    os << acceleration.get_angular_acceleration()(2) << ")";
  }
  return os;
}
 
CartesianAcceleration operator*(const CartesianState& state, const CartesianAcceleration& acceleration) {
  return state.operator*(acceleration);
}
 
CartesianAcceleration operator*(double lambda, const CartesianAcceleration& acceleration) {
  return acceleration * lambda;
}
 
CartesianAcceleration operator*(const Eigen::Matrix<double, 6, 6>& lambda, const CartesianAcceleration& acceleration) {
  CartesianAcceleration result(acceleration);
  result *= lambda;
  return result;
}
 
CartesianTwist operator*(const std::chrono::nanoseconds& dt, const CartesianAcceleration& acceleration) {
  return acceleration * dt;
}
}// namespace state_representation