MotionVector.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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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef _RL_MATH_MOTIONVECTOR_H_
#define _RL_MATH_MOTIONVECTOR_H_
 
#include <Eigen/Core>
 
namespace rl
{
    namespace math
    {
        namespace spatial
        {
            template< typename Scalar > class ForceVector;
            
            template< typename Scalar >
            class MotionVector
            {
            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 > AngularType;
                
                typedef const ::Eigen::Block< ConstMatrixType, 3, 1 > ConstAngularType;
                
                typedef ::Eigen::Block< MatrixType, 3, 1 > LinearType;
                
                typedef const ::Eigen::Block< ConstMatrixType, 3, 1 > ConstLinearType;
                
                MotionVector()
                {
                }
                
                template< typename OtherDerived >
                MotionVector(const ::Eigen::MatrixBase< OtherDerived >& other) :
                    data(other)
                {
                }
                
                virtual ~MotionVector()
                {
                }
                
                AngularType angular()
                {
                    return data.template segment< 3 >(0);
                }
                
                ConstAngularType angular() const
                {
                    return data.template segment< 3 >(0);
                }
                
                template< typename OtherScalar >
                ForceVector< OtherScalar > cross(const ForceVector< OtherScalar >& other) const;
                
                MotionVector cross(const MotionVector& other) const
                {
                    MotionVector res;
                    res.angular() = angular().cross(other.angular());
                    res.linear() = angular().cross(other.linear()) + linear().cross(other.angular());
                    return res;
                }
                
                template< typename OtherScalar >
                Scalar dot(const ForceVector< OtherScalar >& other) const;
                
                LinearType linear()
                {
                    return data.template segment< 3 >(3);
                }
                
                ConstLinearType linear() const
                {
                    return data.template segment< 3 >(3);
                }
                
                ConstMatrixType& matrix() const
                {
                    return data;
                }
                
                template< typename OtherDerived >
                MotionVector& operator=(const ::Eigen::MatrixBase< OtherDerived >& other)
                {
                    data = other;
                    return *this;
                }
                
                MotionVector operator+(const MotionVector& other) const
                {
                    MotionVector res;
                    res.angular() = angular() + other.angular();
                    res.linear() = linear() + other.linear();
                    return res;
                }
                
                MotionVector operator-(const MotionVector& other) const
                {
                    MotionVector res;
                    res.angular() = angular() - other.angular();
                    res.linear() = linear() - other.linear();
                    return res;
                }
                
                template< typename OtherScalar >
                MotionVector operator*(const OtherScalar& other) const
                {
                    MotionVector res;
                    res.angular() = angular() * other;
                    res.linear() = linear() * other;
                    return res;
                }
                
                template< typename OtherScalar >
                MotionVector operator/(const OtherScalar& other) const
                {
                    MotionVector res;
                    res.angular() = angular() / other;
                    res.linear() = linear() / other;
                    return res;
                }
                
                void setZero()
                {
                    angular().setZero();
                    linear().setZero();
                }
                
            protected:
                
            private:
                MatrixType data;
            };
        }
    }
}
 
#endif // _RL_MATH_MOTIONVECTOR_H_