integrator-force.h

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SOT_SOTINTEGRATORFORCE_H__
#define __SOT_SOTINTEGRATORFORCE_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* Matrix */
#include <dynamic-graph/linear-algebra.h>
 
/* SOT */
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
 
#include <sot/core/matrix-geometry.hh>
 
/* STD */
#include <string>
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(integrator_force_EXPORTS)
#define SOTINTEGRATORFORCE_EXPORT __declspec(dllexport)
#else
#define SOTINTEGRATORFORCE_EXPORT __declspec(dllimport)
#endif
#else
#define SOTINTEGRATORFORCE_EXPORT
#endif
 
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class SOTINTEGRATORFORCE_EXPORT IntegratorForce : public dg::Entity {
 public:
  static const std::string CLASS_NAME;
  virtual const std::string& getClassName(void) const { return CLASS_NAME; }
 
 protected:
  double timeStep;
  static const double TIME_STEP_DEFAULT;  // = 5e-3
 
 public: /* --- CONSTRUCTION --- */
  IntegratorForce(const std::string& name);
  virtual ~IntegratorForce(void);
 
 public: /* --- SIGNAL --- */
  dg::SignalPtr<dynamicgraph::Vector, sigtime_t> forceSIN;
  dg::SignalPtr<dynamicgraph::Matrix, sigtime_t> massInverseSIN;
  dg::SignalPtr<dynamicgraph::Matrix, sigtime_t> frictionSIN;
 
  /* Memory of the previous iteration. The sig is fed by the previous
   * computations. */
  dg::SignalPtr<dynamicgraph::Vector, sigtime_t> velocityPrecSIN;
  dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t>
      velocityDerivativeSOUT;
  dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> velocitySOUT;
 
  dg::SignalPtr<dynamicgraph::Matrix, sigtime_t> massSIN;
  dg::SignalTimeDependent<dynamicgraph::Matrix, sigtime_t> massInverseSOUT;
 
 public: /* --- FUNCTIONS --- */
  dynamicgraph::Vector& computeDerivative(dynamicgraph::Vector& res,
                                          const sigtime_t& time);
  dynamicgraph::Vector& computeIntegral(dynamicgraph::Vector& res,
                                        const sigtime_t& time);
 
  dynamicgraph::Matrix& computeMassInverse(dynamicgraph::Matrix& res,
                                           const sigtime_t& time);
};
 
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif  // #ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__