ForceVector.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
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#ifndef _RL_MATH_FORCEVECTOR_H_
#define _RL_MATH_FORCEVECTOR_H_
 
#include <Eigen/Core>
 
namespace rl
{
    namespace math
    {
        namespace spatial
        {
            template< typename Scalar > class ArticulatedBodyInertia;
            template< typename Scalar > class MotionVector;
            
            template< typename Scalar >
            class ForceVector
            {
            public:
                EIGEN_MAKE_ALIGNED_OPERATOR_NEW
                
                typedef Scalar ScalarType;
                
                typedef typename ::Eigen::Matrix< Scalar, 6, 1 > MatrixType;
                
                typedef const MatrixType ConstMatrixType;
                
                typedef ::Eigen::Block< MatrixType, 3, 1 > MomentType;
                
                typedef const ::Eigen::Block< ConstMatrixType, 3, 1 > ConstMomentType;
                
                typedef ::Eigen::Block< MatrixType, 3, 1 > ForceType;
                
                typedef const ::Eigen::Block< ConstMatrixType, 3, 1 > ConstForceType;
                
                ForceVector()
                {
                }
                
                template< typename OtherDerived >
                ForceVector(const ::Eigen::MatrixBase< OtherDerived >& other) :
                    data(other)
                {
                }
                
                virtual ~ForceVector()
                {
                }
                
                template< typename OtherScalar >
                Scalar dot(const MotionVector< OtherScalar >& other) const;
                
                ForceType force()
                {
                    return data.template segment< 3 >(3);
                }
                
                ConstForceType force() const
                {
                    return data.template segment< 3 >(3);
                }
                
                ConstMatrixType& matrix() const
                {
                    return data;
                }
                
                MomentType moment()
                {
                    return data.template segment< 3 >(0);
                }
                
                ConstMomentType moment() const
                {
                    return data.template segment< 3 >(0);
                }
                
                template< typename OtherDerived >
                ForceVector& operator=(const ::Eigen::MatrixBase< OtherDerived >& other)
                {
                    data = other;
                    return *this;
                }
                
                ForceVector operator+(const ForceVector& other) const
                {
                    ForceVector res;
                    res.moment() = moment() + other.moment();
                    res.force() = force() + other.force();
                    return res;
                }
                
                ForceVector operator-(const ForceVector& other) const
                {
                    ForceVector res;
                    res.moment() = moment() - other.moment();
                    res.force() = force() - other.force();
                    return res;
                }
                
                template< typename OtherScalar >
                ForceVector operator*(const OtherScalar& other) const
                {
                    ForceVector res;
                    res.moment() = moment() * other;
                    res.force() = force() * other;
                    return res;
                }
                
                template< typename OtherScalar >
                ForceVector operator/(const OtherScalar& other) const
                {
                    ForceVector res;
                    res.moment() = moment() / other;
                    res.force() = force() / other;
                    return res;
                }
                
                ArticulatedBodyInertia< Scalar > operator*(const ForceVector& other) const;
                
                void setZero()
                {
                    moment().setZero();
                    force().setZero();
                }
                
            protected:
                
            private:
                MatrixType data;
            };
        }
    }
}
 
#endif // _RL_MATH_FORCEVECTOR_H_