chompUtils.hpp

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#ifndef CHOMP_UTILS_H_
#define CHOMP_UTILS_H_

//#include <kdl/jntarray.hpp>
//#include <chomp_motion_planner/chomp_robot_model.h>
#include <iostream>
#include <vector>


#include <Eigen/Core>
#include <Eigen/Geometry>

//using namespace std;

//namespace chomp
//{
  
  static const int DIFF_RULE_LENGTH = 7;
  static const int NUM_DIFF_RULES = 3;

  // the differentiation rules (centered at the center)
  static const double DIFF_RULES[NUM_DIFF_RULES][DIFF_RULE_LENGTH] = {
    {0, 0, -2/6.0, -3/6.0, 6/6.0, -1/6.0, 0},                   // velocity
    {0, -1/12.0, 16/12.0, -30/12.0, 16/12.0, -1/12.0, 0},       // acceleration
    {0, 1/12.0, -17/12.0, 46/12.0, -46/12.0, 17/12.0, -1/12.0}  // jerk
  };
  

inline void stdVectorToEigenTransform(const std::vector<double>& stl, Eigen::Affine3d& T)
  {
    for (int j=0; j<4; j++)
    {
      for (int i=0; i<3; i++)
      {
        T(i,j) = stl[i*4+j];
      }
    }
    
    T(3,0) = 0;
    T(3,1) = 0;
    T(3,2) = 0;
    T(3,3) = 1;
    
    //cout << "Transfo : " << endl << T.matrix() << endl;
  }

inline void eigenTransformToStdVector(const Eigen::Affine3d& T, std::vector<double>& stl )
{
  stl.resize(12);
  for (int j=0; j<4; j++)
  {
    for (int i=0; i<3; i++)
    {
      stl[i*4+j] = T(i,j);
    }
  }
}

//  inline void debugJointArray(KDL::JntArray& joint_array)
//  {
//    for (unsigned int i=0; i<joint_array.rows(); i++)
//    {
//      std::cout << joint_array(i) << "\t";
//    }
//    std::cout << std::endl;
//  }
//  
//  template<typename KDLType, typename EigenType>
//  void kdlVecToEigenVec(std::vector<KDLType>& kdl_v, std::vector<Eigen::Map<EigenType> >& eigen_v, int rows, int cols)
//  {
//    int size = kdl_v.size();
//    eigen_v.clear();
//    for (int i=0; i<size; i++)
//    {
//      eigen_v.push_back(Eigen::Map<EigenType>(kdl_v[i].data, rows, cols));
//    }
//  }
//  
//  template<typename KDLType, typename EigenType>
//  void kdlVecVecToEigenVecVec(std::vector<std::vector<KDLType> >& kdl_vv, std::vector<std::vector<Eigen::Map<EigenType> > > & eigen_vv, int rows, int cols)
//  {
//    int size = kdl_vv.size();
//    eigen_vv.resize(size);
//    for (int i=0; i<size; i++)
//    {
//      kdlVecToEigenVec(kdl_vv[i], eigen_vv[i], rows, cols);
//    }
//  }
  
  
//} //namespace chomp


#endif /* CHOMP_UTILS_H_ */