jntspaceinertiamatrix.hpp

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// Copyright  (C)  2009  Dominick Vanthienen <dominick dot vanthienen at mech dot kuleuven dot be>

// Version: 1.0
// Author: Dominick Vanthienen <dominick dot vanthienen at mech dot kuleuven dot be>
// Maintainer: Dominick Vanthienen <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_JNTSPACEINERTIAMATRIX_HPP
#define KDL_JNTSPACEINERTIAMATRIX_HPP

#include "frames.hpp"
#include "jacobian.hpp"
#include "jntarray.hpp"

#include <Eigen/Core>

namespace KDL
{
    class JntSpaceInertiaMatrix
    {
    public:
        Eigen::MatrixXd data;

        JntSpaceInertiaMatrix();
        explicit JntSpaceInertiaMatrix(int size);
        JntSpaceInertiaMatrix(const JntSpaceInertiaMatrix& arg);
        ~JntSpaceInertiaMatrix();
        void resize(unsigned int newSize);
                
        JntSpaceInertiaMatrix& operator = ( const JntSpaceInertiaMatrix& arg);
        double operator()(unsigned int i,unsigned int j)const;
        double& operator()(unsigned int i,unsigned int j);
        unsigned int rows()const;
        unsigned int columns()const;

        friend void Add(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
        friend void Subtract(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
        friend void Multiply(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest);
        friend void Divide(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest);
        friend void Multiply(const JntSpaceInertiaMatrix& src, const JntArray& vec, JntArray& dest);
        friend void SetToZero(JntSpaceInertiaMatrix& matrix);
        friend bool Equal(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,double eps);
        friend bool operator==(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
        //friend bool operator!=(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
    };

    bool operator==(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
    //bool operator!=(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);

    void Add(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);

    void Subtract(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);

    void Multiply(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest);

    void Divide(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest);

    void Multiply(const JntSpaceInertiaMatrix& src, const JntArray& vec, JntArray& dest);

    void SetToZero(JntSpaceInertiaMatrix& matrix);

    bool Equal(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,double eps=epsilon);

    bool operator==(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);

}

#endif