JointVelocities.cpp

#include "state_representation/space/joint/JointVelocities.hpp"
#include "state_representation/exceptions/EmptyStateException.hpp"
 
using namespace state_representation::exceptions;
 
namespace state_representation {
JointVelocities::JointVelocities() {
  this->set_type(StateType::JOINT_VELOCITIES);
}
 
JointVelocities::JointVelocities(const std::string& robot_name, unsigned int nb_joints) :
    JointState(robot_name, nb_joints) {
  this->set_type(StateType::JOINT_VELOCITIES);
}
 
JointVelocities::JointVelocities(const std::string& robot_name, const Eigen::VectorXd& velocities) :
    JointState(robot_name, velocities.size()) {
  this->set_type(StateType::JOINT_VELOCITIES);
  this->set_velocities(velocities);
}
 
JointVelocities::JointVelocities(const std::string& robot_name, const std::vector<std::string>& joint_names) :
    JointState(robot_name, joint_names) {
  this->set_type(StateType::JOINT_VELOCITIES);
}
 
JointVelocities::JointVelocities(
    const std::string& robot_name, const std::vector<std::string>& joint_names, const Eigen::VectorXd& velocities
) : JointState(robot_name, joint_names) {
  this->set_type(StateType::JOINT_VELOCITIES);
  this->set_velocities(velocities);
}
 
JointVelocities::JointVelocities(const JointState& state) : JointState(state) {
  // set all the state variables to 0 except velocities
  this->set_type(StateType::JOINT_VELOCITIES);
  this->set_zero();
  this->set_velocities(state.get_velocities());
  this->set_empty(state.is_empty());
}
 
JointVelocities::JointVelocities(const JointVelocities& velocities) :
    JointVelocities(static_cast<const JointState&>(velocities)) {}
 
JointVelocities::JointVelocities(const JointAccelerations& accelerations) :
    JointVelocities(std::chrono::seconds(1) * accelerations) {}
 
JointVelocities::JointVelocities(const JointPositions& positions) :
    JointVelocities(positions / std::chrono::seconds(1)) {}
 
JointVelocities JointVelocities::Zero(const std::string& robot_name, unsigned int nb_joints) {
  return JointState::Zero(robot_name, nb_joints);
}
 
JointVelocities JointVelocities::Zero(const std::string& robot_name, const std::vector<std::string>& joint_names) {
  return JointState::Zero(robot_name, joint_names);
}
 
JointVelocities JointVelocities::Random(const std::string& robot_name, unsigned int nb_joints) {
  return JointVelocities(robot_name, Eigen::VectorXd::Random(nb_joints));
}
 
JointVelocities JointVelocities::Random(const std::string& robot_name, const std::vector<std::string>& joint_names) {
  return JointVelocities(robot_name, joint_names, Eigen::VectorXd::Random(joint_names.size()));
}
 
JointVelocities& JointVelocities::operator+=(const JointVelocities& velocities) {
  this->JointState::operator+=(velocities);
  return (*this);
}
 
JointVelocities JointVelocities::operator+(const JointVelocities& velocities) const {
  return this->JointState::operator+(velocities);
}
 
JointVelocities& JointVelocities::operator-=(const JointVelocities& velocities) {
  this->JointState::operator-=(velocities);
  return (*this);
}
 
JointVelocities JointVelocities::operator-(const JointVelocities& velocities) const {
  return this->JointState::operator-(velocities);
}
 
JointVelocities& JointVelocities::operator*=(double lambda) {
  this->JointState::operator*=(lambda);
  return (*this);
}
 
JointVelocities JointVelocities::operator*(double lambda) const {
  return this->JointState::operator*(lambda);
}
 
JointVelocities& JointVelocities::operator*=(const Eigen::ArrayXd& lambda) {
  this->multiply_state_variable(lambda, JointStateVariable::VELOCITIES);
  return (*this);
}
 
JointVelocities JointVelocities::operator*(const Eigen::ArrayXd& lambda) const {
  JointVelocities result(*this);
  result *= lambda;
  return result;
}
 
JointVelocities& JointVelocities::operator*=(const Eigen::MatrixXd& lambda) {
  this->multiply_state_variable(lambda, JointStateVariable::VELOCITIES);
  return (*this);
}
 
JointVelocities JointVelocities::operator*(const Eigen::MatrixXd& lambda) const {
  JointVelocities result(*this);
  result *= lambda;
  return result;
}
 
JointVelocities& JointVelocities::operator/=(double lambda) {
  this->JointState::operator/=(lambda);
  return (*this);
}
 
JointVelocities JointVelocities::operator/(double lambda) const {
  return this->JointState::operator/(lambda);
}
 
JointAccelerations JointVelocities::operator/(const std::chrono::nanoseconds& dt) const {
  if (this->is_empty()) { throw EmptyStateException(this->get_name() + " state is empty"); }
  // operations
  JointAccelerations accelerations(this->get_name(), this->get_names());
  // convert the period to a double with the second as reference
  double period = dt.count();
  period /= 1e9;
  // divide the positions by this period value and assign it as velocities
  accelerations.set_accelerations(this->get_velocities() / period);
  return accelerations;
}
 
JointPositions JointVelocities::operator*(const std::chrono::nanoseconds& dt) const {
  if (this->is_empty()) { throw EmptyStateException(this->get_name() + " state is empty"); }
  // operations
  JointPositions displacement(this->get_name(), this->get_names());
  // convert the period to a double with the second as reference
  double period = dt.count();
  period /= 1e9;
  // multiply the velocities by this period value and assign it as position
  displacement.set_positions(period * this->get_velocities());
  return displacement;
}
 
JointVelocities JointVelocities::copy() const {
  JointVelocities result(*this);
  return result;
}
 
Eigen::VectorXd JointVelocities::data() const {
  return this->get_velocities();
}
 
void JointVelocities::set_data(const Eigen::VectorXd& data) {
  this->set_velocities(data);
}
 
void JointVelocities::set_data(const std::vector<double>& data) {
  this->set_velocities(Eigen::VectorXd::Map(data.data(), data.size()));
}
 
void JointVelocities::clamp(double max_absolute_value, double noise_ratio) {
  this->clamp_state_variable(max_absolute_value, JointStateVariable::VELOCITIES, noise_ratio);
}
 
JointVelocities JointVelocities::clamped(double max_absolute_value, double noise_ratio) const {
  JointVelocities result(*this);
  result.clamp(max_absolute_value, noise_ratio);
  return result;
}
 
void JointVelocities::clamp(const Eigen::ArrayXd& max_absolute_value_array, const Eigen::ArrayXd& noise_ratio_array) {
  this->clamp_state_variable(max_absolute_value_array, JointStateVariable::VELOCITIES, noise_ratio_array);
}
 
JointVelocities JointVelocities::clamped(
    const Eigen::ArrayXd& max_absolute_value_array, const Eigen::ArrayXd& noise_ratio_array
) const {
  JointVelocities result(*this);
  result.clamp(max_absolute_value_array, noise_ratio_array);
  return result;
}
 
std::ostream& operator<<(std::ostream& os, const JointVelocities& velocities) {
  if (velocities.is_empty()) {
    os << "Empty JointVelocities";
  } else {
    os << velocities.get_name() << " JointVelocities" << std::endl;
    os << "names: [";
    for (auto& n: velocities.get_names()) { os << n << ", "; }
    os << "]" << std::endl;
    os << "velocities: [";
    for (unsigned int i = 0; i < velocities.get_size(); ++i) { os << velocities.get_velocities()(i) << ", "; }
    os << "]";
  }
  return os;
}
 
JointVelocities operator*(double lambda, const JointVelocities& velocities) {
  JointVelocities result(velocities);
  result *= lambda;
  return result;
}
 
JointVelocities operator*(const Eigen::ArrayXd& lambda, const JointVelocities& velocities) {
  JointVelocities result(velocities);
  result *= lambda;
  return result;
}
 
JointVelocities operator*(const Eigen::MatrixXd& lambda, const JointVelocities& velocities) {
  JointVelocities result(velocities);
  result *= lambda;
  return result;
}
 
JointPositions operator*(const std::chrono::nanoseconds& dt, const JointVelocities& velocities) {
  return velocities * dt;
}
}// namespace state_representation