ArticulatedBodyInertia.h

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//
// Copyright (c) 2009, Markus Rickert
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#ifndef _RL_MATH_ARTICULATEDBODYINERTIA_H_
#define _RL_MATH_ARTICULATEDBODYINERTIA_H_
 
#include <Eigen/Core>
 
namespace rl
{
    namespace math
    {
        namespace spatial
        {
            template< typename Scalar > class ForceVector;
            template< typename Scalar > class MotionVector;
            template< typename Scalar > class RigidBodyInertia;
            
            template< typename Scalar >
            class ArticulatedBodyInertia
            {
            public:
                EIGEN_MAKE_ALIGNED_OPERATOR_NEW
                
                typedef Scalar ScalarType;
                
                typedef ::Eigen::Matrix< Scalar, 6, 6 > MatrixType;
                
                typedef ::Eigen::Matrix< Scalar, 3, 3 > CenterOfGravityType;
                
                typedef const CenterOfGravityType ConstCenterOfGravityType;
                
                typedef ::Eigen::Matrix< Scalar, 3, 3 > InertiaType;
                
                typedef const InertiaType ConstInertiaType;
                
                typedef ::Eigen::Matrix< Scalar, 3, 3 > MassType;
                
                typedef const MassType ConstMassType;
                
                ArticulatedBodyInertia()
                {
                }
                
                template< typename OtherDerived >
                ArticulatedBodyInertia(const ::Eigen::DenseBase< OtherDerived >& other) :
                    centerOfGravityData(other.template topRightCorner< 3, 3 >()),
                    inertiaData(other.template topLeftCorner< 3, 3 >()),
                    massData(other.template bottomRightCorner< 3, 3 >())
                {
                }
                
                virtual ~ArticulatedBodyInertia()
                {
                }
                
                CenterOfGravityType& cog()
                {
                    return centerOfGravityData;
                }
                
                ConstCenterOfGravityType& cog() const
                {
                    return centerOfGravityData;
                }
                
                InertiaType& inertia()
                {
                    return inertiaData;
                }
                
                ConstInertiaType& inertia() const
                {
                    return inertiaData;
                }
                
                MassType& mass()
                {
                    return massData;
                }
                
                ConstMassType& mass() const
                {
                    return massData;
                }
                
                MatrixType matrix() const
                {
                    MatrixType res;
                    res.template topLeftCorner< 3, 3 >() = inertia();
                    res.template topRightCorner< 3, 3 >() = cog();
                    res.template bottomLeftCorner< 3, 3 >() = cog().transpose();
                    res.template bottomRightCorner< 3, 3 >() = mass();
                    return res;
                }
                
                template< typename OtherDerived >
                ArticulatedBodyInertia& operator=(const ::Eigen::MatrixBase< OtherDerived >& other)
                {
                    cog() = other.template topRightCorner< 3, 3 >();
                    inertia() = other.template topLeftCorner< 3, 3 >();
                    mass() = other.template bottomRightCorner< 3, 3 >();
                    return *this;
                }
                
                template< typename OtherScalar >
                ArticulatedBodyInertia& operator=(const RigidBodyInertia< OtherScalar >& other);
                
                ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& other) const
                {
                    ArticulatedBodyInertia res;
                    res.cog() = cog() + other.cog();
                    res.inertia() = inertia() + other.inertia();
                    res.mass() = mass() + other.mass();
                    return res;
                }
                
                ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& other) const
                {
                    ArticulatedBodyInertia res;
                    res.cog() = cog() - other.cog();
                    res.inertia() = inertia() - other.inertia();
                    res.mass() = mass() - other.mass();
                    return res;
                }
                
                template< typename OtherScalar >
                ArticulatedBodyInertia operator*(const OtherScalar& other) const
                {
                    ArticulatedBodyInertia res;
                    res.cog() = cog() * other;
                    res.inertia() = inertia() * other;
                    res.mass() = mass() * other;
                    return res;
                }
                
                template< typename OtherScalar >
                ForceVector< Scalar > operator*(const MotionVector< OtherScalar >& other) const;
                
                template< typename OtherScalar >
                ArticulatedBodyInertia operator/(const OtherScalar& other) const
                {
                    ArticulatedBodyInertia res;
                    res.cog() = cog() / other;
                    res.inertia() = inertia() / other;
                    res.mass() = mass() / other;
                    return res;
                }
                
                void setIdentity()
                {
                    cog().setZero();
                    inertia().setIdentity();
                    mass().setIdentity();
                }
                
                void setZero()
                {
                    cog().setZero();
                    inertia().setZero();
                    mass().setZero();
                }
                
            protected:
                
            private:
                CenterOfGravityType centerOfGravityData;
                
                InertiaType inertiaData;
                
                MassType massData;
            };
        }
    }
}
 
#endif // _RL_MATH_ARTICULATEDBODYINERTIA_H_