DynamicsLoader.hpp
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00034  *  Author: Dula Nad
00035  *  Created: 01.02.2013.
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00037 #ifndef DYNAMICSLOADER_HPP_
00038 #define DYNAMICSLOADER_HPP_
00039 #include <labust/tools/MatrixLoader.hpp>
00040 #include <ros/ros.h>
00041 
00042 namespace labust
00043 {
00044         namespace tools
00045         {
00050                 template <class Derived>
00051                 inline void matrixExtender(const ros::NodeHandle& nh,
00052                                 const std::string& name, Eigen::MatrixBase<Derived>& matrix)
00053                 {
00054                         std::pair<int,int> rowcols = getMatrixParam(nh,name,matrix);
00055                         if ((matrix.rows() > rowcols.first) && (rowcols.first == 1))
00056                         {
00057                                 matrix=matrix.row(0).eval().asDiagonal();
00058                         }
00059                 }
00060 
00065                 template <class Model>
00066                 void loadDynamicsParams(const ros::NodeHandle& nh,
00067                                 Model& model)
00068                 {
00069                         nh.param("mass",model.m, model.m);
00070                         nh.param("gravity",model.g_acc, model.g_acc);
00071                         nh.param("fluid_density",model.rho, model.rho);
00072 
00073                         getMatrixParam(nh,"rg",model.rg);
00074                         getMatrixParam(nh,"rb",model.rb);
00075 
00076                         matrixExtender(nh,"added_mass",model.Ma);
00077                         matrixExtender(nh,"linear_damping",model.Dlin);
00078                         matrixExtender(nh,"quadratic_damping",model.Dquad);
00079                         matrixExtender(nh,"inertia_matrix",model.Io);
00080                 }
00081         }
00082 }
00083 /* DYNAMICSLOADER_HPP_ */
00084 #endif


snippets
Author(s): Gyula Nagy
autogenerated on Mon Oct 6 2014 01:39:41