centroidal_model.h

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#ifndef TOWR_MODELS_CENTROIDAL_MODEL_H_
#define TOWR_MODELS_CENTROIDAL_MODEL_H_

#include "dynamic_model.h"

namespace towr {

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

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

  virtual ~CentroidalModel () = default;

  // for documentation, see definition in base class DynamicModel
  virtual BaseAcc GetDynamicViolation() const override;

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

private:

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


} /* namespace towr */

#endif /* TOWR_MODELS_CENTROIDAL_MODEL_H_ */