single_rigid_body_dynamics.h

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#ifndef TOWR_MODELS_SINGLE_RIBID_BODY_DYNAMICS_MODEL_H_
#define TOWR_MODELS_SINGLE_RIBID_BODY_DYNAMICS_MODEL_H_

#include "dynamic_model.h"

namespace towr {

class SingleRigidBodyDynamics : public DynamicModel {
public:
  SingleRigidBodyDynamics (double mass, const Eigen::Matrix3d& inertia_b, int ee_count);

  SingleRigidBodyDynamics (double mass,
                   double Ixx, double Iyy, double Izz,
                   double Ixy, double Ixz, double Iyz,
                   int ee_count);

  virtual ~SingleRigidBodyDynamics () = default;

  BaseAcc GetDynamicViolation() const override;

  Jac GetJacobianWrtBaseLin(const Jac& jac_base_lin_pos,
                            const Jac& jac_acc_base_lin) const override;
  Jac GetJacobianWrtBaseAng(const EulerConverter& base_angular,
                            double t) const override;
  Jac GetJacobianWrtForce(const Jac& jac_force, EE) const override;

  Jac GetJacobianWrtEEPos(const Jac& jac_ee_pos, EE) const override;

private:
  Eigen::SparseMatrix<double, Eigen::RowMajor> I_b;
};


} /* namespace towr */

#endif /* TOWR_MODELS_SINGLE_RIBID_BODY_DYNAMICS_MODEL_H_ */