treeidsolver_recursive_newton_euler.hpp

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// Copyright  (C)  2009  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>

// Version: 1.0
// Author: Ruben Smits <ruben dot smits 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

#pragma once

#include "treeidsolver.hpp"

namespace KDL{
    class TreeIdSolver_RNE : public TreeIdSolver{
    public:
        TreeIdSolver_RNE(const Tree& tree,Vector grav);
        ~TreeIdSolver_RNE(){};
        
        int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches& f_ext,JntArray &torques);
        int CartToJnt(const std::vector<double> &q, const std::vector<double> &q_dot, const std::vector<double> &q_dotdot, const Wrenches& f_ext,JntArray &torques);


    private:
                struct Entry{
                        Frame X;
                        Twist S;
                        Twist v;
                        Twist a;
                        Wrench f;
                        Wrench f_ext;
                };
                struct JntEntry{
                        int idx;
                        double torque;
                };
                        
    
    
    
        Tree tree;
        std::string root_name;
        //std::map<std::string, Frame> X;
        //std::map<std::string, Twist> S;
        //std::map<std::string, Twist> v;
        //std::map<std::string, Twist> a;
        //std::map<std::string, Wrench> f;
        //std::map<std::string, Wrench> f_ext_map;
        //much faster not to have to look up each individual element
        //better to group the variables together and only have one lookup
        //before was nearly 25% to look up each individually
        std::map<std::string, Entry> db;        
        std::map<std::string, JntEntry> jntdb;
        
        //std::map<std::string, double> torque_map; /// takes in joint names
        //std::map<std::string, int> name2idx;
        Twist ag;
    };
}