Dynamics.h

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/*
 * Original Copyright (c) 2011-2016 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
 *
 *
 * RDL - Robot Dynamics Library
 * Modifications Copyright (c) 2017 Jordan Lack <jlack1987@gmail.com>
 *
 * Licensed under the zlib license. See LICENSE for more details.
 */

#ifndef RDL_DYNAMICS_H
#define RDL_DYNAMICS_H

#include <assert.h>
#include <iostream>

#include "rdl_dynamics/SpatialForce.hpp"
#include "rdl_dynamics/rdl_mathutils.h"

namespace RobotDynamics
{
struct Model;

void inverseDynamics(Model& model, const Math::VectorNd& Q, const Math::VectorNd& QDot, const Math::VectorNd& QDDot, Math::VectorNd& Tau,
                     Math::SpatialForceV* f_ext = nullptr, bool update_kinematics = true);

void coriolisEffects(Model& model, const Math::VectorNd& Q, const Math::VectorNd& QDot, Math::VectorNd& Tau, bool update_kinematics = true);

void gravityEffects(Model& model, Math::VectorNd& Tau);

void calcBodyGravityWrench(Model& model, unsigned int body_id, RobotDynamics::Math::SpatialForce& gravity_wrench);

void nonlinearEffects(Model& model, const Math::VectorNd& Q, const Math::VectorNd& QDot, Math::VectorNd& Tau, bool update_kinematics = true);

void compositeRigidBodyAlgorithm(Model& model, const Math::VectorNd& Q, Math::MatrixNd& H, bool update_kinematics = true);

void forwardDynamics(Model& model, const Math::VectorNd& Q, const Math::VectorNd& QDot, const Math::VectorNd& Tau, Math::VectorNd& QDDot,
                     Math::SpatialForceV* f_ext = nullptr, bool update_kinematics = true);

void forwardDynamicsLagrangian(Model& model, const Math::VectorNd& Q, const Math::VectorNd& QDot, const Math::VectorNd& Tau, Math::VectorNd& QDDot, Math::MatrixNd& H,
                               Math::VectorNd& C, Math::LinearSolver linear_solver = Math::LinearSolverColPivHouseholderQR, Math::SpatialForceV* f_ext = nullptr,
                               bool update_kinematics = true);

void calcMInvTimesTau(Model& model, const Math::VectorNd& Q, const Math::VectorNd& Tau, Math::VectorNd& QDDot, bool update_kinematics = true);

}  // namespace RobotDynamics

/* RDL_DYNAMICS_H */
#endif  // ifndef RDL_DYNAMICS_H