SpatialAcceleration.hpp

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/*
 * RDL - Robot Dynamics Library
 * Copyright (c) 2017 Jordan Lack <jlack1987@gmail.com>
 *
 * Licensed under the zlib license. See LICENSE for more details.
 */

#ifndef __RDL_SPATIAL_ACCELERATION_HPP__
#define __RDL_SPATIAL_ACCELERATION_HPP__

#include "rdl_dynamics/SpatialMotion.hpp"

namespace RobotDynamics
{
namespace Math
{
class SpatialAcceleration : public SpatialMotion
{
  public:
    SpatialAcceleration() : SpatialMotion()
    {
    }

    SpatialAcceleration(ReferenceFramePtr bodyFrame, ReferenceFramePtr baseFrame, ReferenceFramePtr expressedInFrame, const double wx, const double wy, const double wz,
                        const double vx, const double vy, const double vz)
      : SpatialMotion(bodyFrame, baseFrame, expressedInFrame, wx, wy, wz, vx, vy, vz)
    {
    }

    SpatialAcceleration(ReferenceFramePtr bodyFrame, ReferenceFramePtr baseFrame, ReferenceFramePtr expressedInFrame, const Vector3d& w, const Vector3d v)
      : SpatialMotion(bodyFrame, baseFrame, expressedInFrame, w.x(), w.y(), w.z(), v.x(), v.y(), v.z())
    {
    }

    SpatialAcceleration(ReferenceFramePtr bodyFrame, ReferenceFramePtr baseFrame, ReferenceFramePtr expressedInFrame, const SpatialVector& v)
      : SpatialMotion(bodyFrame, baseFrame, expressedInFrame, v)
    {
    }

    SpatialAcceleration(const SpatialAcceleration& spatialAcceleration)
      : SpatialMotion(spatialAcceleration.getBodyFrame(), spatialAcceleration.getBaseFrame(), spatialAcceleration.getReferenceFrame(), spatialAcceleration)
    {
    }

    void changeFrameWithRelativeMotion(ReferenceFramePtr newFrame, SpatialMotion twistOfCurrentFrameWithRespectToNewFrame,
                                       const SpatialMotion& twistOfBodyWrtBaseExpressedInCurrent);

    void operator+=(const SpatialAcceleration& vector);

    void operator-=(const SpatialAcceleration& vector);
};

inline SpatialAcceleration operator+(SpatialAcceleration v1, const SpatialAcceleration& v2)
{
    v1 += v2;
    return v1;
}

inline SpatialAcceleration operator-(SpatialAcceleration v1, const SpatialAcceleration& v2)
{
    v1 -= v2;
    return v1;
}
typedef std::vector<SpatialAcceleration, Eigen::aligned_allocator<SpatialAcceleration>> SpatialAccelerationV;
}  // namespace Math
}  // namespace RobotDynamics

#endif  //__RDL_SPATIAL_ACCELERATION_HPP__