chaindynparam.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: 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 KDLCHAINDYNPARAM_HPP
#define KDLCHAINDYNPARAM_HPP

#include "chainidsolver_recursive_newton_euler.hpp"
#include "articulatedbodyinertia.hpp"
#include "jntspaceinertiamatrix.hpp"
#include <Eigen/StdVector>

namespace KDL {

    class ChainDynParam : SolverI
    {
    public:
        ChainDynParam(const Chain& chain, Vector _grav);
        virtual ~ChainDynParam();

        virtual int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis);
        virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix& H);
        virtual int JntToGravity(const JntArray &q,JntArray &gravity);

    virtual void updateInternalDataStructures();

    private:
        const Chain& chain;
        int nr;
        unsigned int nj;
        unsigned int ns;        
        Vector grav;
        Vector vectornull;
        JntArray jntarraynull;
        ChainIdSolver_RNE chainidsolver_coriolis;
        ChainIdSolver_RNE chainidsolver_gravity;
        std::vector<Wrench> wrenchnull;
        std::vector<Frame> X;
        std::vector<Twist> S;
        //std::vector<RigidBodyInertia> I;
        std::vector<ArticulatedBodyInertia, Eigen::aligned_allocator<ArticulatedBodyInertia> > Ic;
        Wrench F;
        Twist ag;
        
    };

}

#endif