articulatedbodyinertia.hpp

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// Copyright  (C)  2009  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>

// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

#ifndef KDL_ARTICULATEDBODYINERTIA_HPP
#define KDL_ARTICULATEDBODYINERTIA_HPP

#include "frames.hpp"

#include "rotationalinertia.hpp"
#include "rigidbodyinertia.hpp"

#include <Eigen/Core>

namespace KDL {
    
    class ArticulatedBodyInertia{
    public:

        ArticulatedBodyInertia(){
            *this=ArticulatedBodyInertia::Zero();
        }

        ArticulatedBodyInertia(const RigidBodyInertia& rbi);

        explicit ArticulatedBodyInertia(double m, const Vector& oc=Vector::Zero(), const RotationalInertia& Ic=RotationalInertia::Zero());
        
        static inline ArticulatedBodyInertia Zero(){
            return ArticulatedBodyInertia(Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero());
        };
        
        
        ~ArticulatedBodyInertia(){};
        
        friend ArticulatedBodyInertia operator*(double a,const ArticulatedBodyInertia& I);
        friend ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
        friend ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const RigidBodyInertia& Ib);
        friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
        friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia,const RigidBodyInertia& Ib);
        friend Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t);
        friend ArticulatedBodyInertia operator*(const Frame& T,const ArticulatedBodyInertia& I);
        friend ArticulatedBodyInertia operator*(const Rotation& R,const ArticulatedBodyInertia& I);

        ArticulatedBodyInertia RefPoint(const Vector& p);

        ArticulatedBodyInertia(const Eigen::Matrix3d& M,const Eigen::Matrix3d& H,const Eigen::Matrix3d& I);

        Eigen::Matrix3d M;
        Eigen::Matrix3d H;
        Eigen::Matrix3d I;
    };

    ArticulatedBodyInertia operator*(double a,const ArticulatedBodyInertia& I);
    ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
    ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const RigidBodyInertia& Ib);
    ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
    ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia,const RigidBodyInertia& Ib);

    Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t);

    ArticulatedBodyInertia operator*(const Frame& T,const ArticulatedBodyInertia& I);
    ArticulatedBodyInertia operator*(const Rotation& R,const ArticulatedBodyInertia& I);

}
#endif