DynamicsLoader.hpp

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 *  Author: Dula Nad
 *  Created: 01.02.2013.
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#ifndef DYNAMICSLOADER_HPP_
#define DYNAMICSLOADER_HPP_
#include <labust/tools/MatrixLoader.hpp>
#include <ros/ros.h>

namespace labust
{
        namespace tools
        {
                template <class Derived>
                inline void matrixExtender(const ros::NodeHandle& nh,
                                const std::string& name, Eigen::MatrixBase<Derived>& matrix)
                {
                        std::pair<int,int> rowcols = getMatrixParam(nh,name,matrix);
                        if ((matrix.rows() > rowcols.first) && (rowcols.first == 1))
                        {
                                matrix=matrix.row(0).eval().asDiagonal();
                        }
                }

                template <class Model>
                void loadDynamicsParams(const ros::NodeHandle& nh,
                                Model& model)
                {
                        nh.param("mass",model.m, model.m);
                        nh.param("gravity",model.g_acc, model.g_acc);
                        nh.param("fluid_density",model.rho, model.rho);

                        getMatrixParam(nh,"rg",model.rg);
                        getMatrixParam(nh,"rb",model.rb);

                        matrixExtender(nh,"added_mass",model.Ma);
                        matrixExtender(nh,"linear_damping",model.Dlin);
                        matrixExtender(nh,"quadratic_damping",model.Dquad);
                        matrixExtender(nh,"inertia_matrix",model.Io);
                }
        }
}
/* DYNAMICSLOADER_HPP_ */
#endif