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Add plane collision error function #1531

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Add plane collision error function #1531

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3 changes: 3 additions & 0 deletions cmake/build_variables.bzl
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Original file line number Diff line number Diff line change
Expand Up @@ -286,6 +286,7 @@ character_solver_public_headers = [
"character_solver/model_parameters_error_function.h",
"character_solver/normal_error_function.h",
"character_solver/orientation_error_function.h",
"character_solver/plane_collision_error_function.h",
"character_solver/plane_error_function.h",
"character_solver/point_triangle_vertex_error_function.h",
"character_solver/pose_prior_error_function.h",
Expand Down Expand Up @@ -332,6 +333,7 @@ character_solver_sources = [
"character_solver/model_parameters_error_function.cpp",
"character_solver/normal_error_function.cpp",
"character_solver/orientation_error_function.cpp",
"character_solver/plane_collision_error_function.cpp",
"character_solver/plane_error_function.cpp",
"character_solver/point_triangle_vertex_error_function.cpp",
"character_solver/pose_prior_error_function.cpp",
Expand Down Expand Up @@ -374,6 +376,7 @@ character_solver_test_sources = [
"test/character_solver/limit_error_function_test.cpp",
"test/character_solver/normal_error_function_test.cpp",
"test/character_solver/orientation_error_function_test.cpp",
"test/character_solver/plane_collision_error_function_test.cpp",
"test/character_solver/plane_error_function_test.cpp",
"test/character_solver/point_triangle_vertex_error_function_test.cpp",
"test/character_solver/position_error_function_test.cpp",
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19 changes: 19 additions & 0 deletions momentum/character_solver/fwd.h
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Original file line number Diff line number Diff line change
Expand Up @@ -826,6 +826,25 @@ using OrientationRotDiffErrorFunctiond_const_u =
using OrientationRotDiffErrorFunctiond_const_w =
::std::weak_ptr<const OrientationRotDiffErrorFunctiond>;

template <typename T>
class PlaneCollisionErrorFunctionT;
using PlaneCollisionErrorFunction = PlaneCollisionErrorFunctionT<float>;
using PlaneCollisionErrorFunctiond = PlaneCollisionErrorFunctionT<double>;

using PlaneCollisionErrorFunction_p = ::std::shared_ptr<PlaneCollisionErrorFunction>;
using PlaneCollisionErrorFunction_u = ::std::unique_ptr<PlaneCollisionErrorFunction>;
using PlaneCollisionErrorFunction_w = ::std::weak_ptr<PlaneCollisionErrorFunction>;
using PlaneCollisionErrorFunction_const_p = ::std::shared_ptr<const PlaneCollisionErrorFunction>;
using PlaneCollisionErrorFunction_const_u = ::std::unique_ptr<const PlaneCollisionErrorFunction>;
using PlaneCollisionErrorFunction_const_w = ::std::weak_ptr<const PlaneCollisionErrorFunction>;

using PlaneCollisionErrorFunctiond_p = ::std::shared_ptr<PlaneCollisionErrorFunctiond>;
using PlaneCollisionErrorFunctiond_u = ::std::unique_ptr<PlaneCollisionErrorFunctiond>;
using PlaneCollisionErrorFunctiond_w = ::std::weak_ptr<PlaneCollisionErrorFunctiond>;
using PlaneCollisionErrorFunctiond_const_p = ::std::shared_ptr<const PlaneCollisionErrorFunctiond>;
using PlaneCollisionErrorFunctiond_const_u = ::std::unique_ptr<const PlaneCollisionErrorFunctiond>;
using PlaneCollisionErrorFunctiond_const_w = ::std::weak_ptr<const PlaneCollisionErrorFunctiond>;

template <typename T>
class PlaneErrorFunctionT;
using PlaneErrorFunction = PlaneErrorFunctionT<float>;
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