ArticulatedBodyInertia.hxx

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//
// Copyright (c) 2009, Markus Rickert
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#ifndef _RL_MATH_ARTICULATEDBODYINERTIA_HXX_
#define _RL_MATH_ARTICULATEDBODYINERTIA_HXX_
 
namespace rl
{
    namespace math
    {
        namespace spatial
        {
            template< typename Scalar >
            template< typename OtherScalar >
            inline
            ArticulatedBodyInertia< Scalar >&
            ArticulatedBodyInertia< Scalar >::operator=(const RigidBodyInertia< OtherScalar >& other)
            {
                cog() = other.cog().cross33();
                inertia() = other.inertia();
                mass() = ::Eigen::Matrix< Scalar, 3, 3 >::Identity() * other.mass();
                return *this;
            }
            
            template< typename Scalar >
            template< typename OtherScalar >
            inline
            ForceVector< Scalar >
            ArticulatedBodyInertia< Scalar >::operator*(const MotionVector< OtherScalar >& other) const
            {
                ForceVector< Scalar > res;
                res.moment() = inertia() * other.angular() + cog() * other.linear();
                res.force() = mass() * other.linear() + cog().transpose() * other.angular();
                return res;
            }
        }
    }
}
 
#endif // _RL_MATH_ARTICULATEDBODYINERTIA_HXX_