PlueckerTransform.hxx

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//
// Copyright (c) 2009, Markus Rickert
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#ifndef _RL_MATH_PLUECKERTRANSFORM_HXX_
#define _RL_MATH_PLUECKERTRANSFORM_HXX_
 
namespace rl
{
    namespace math
    {
        namespace spatial
        {
            template< typename Scalar >
            template< typename OtherScalar >
            inline
            ForceVector< OtherScalar >
            PlueckerTransform< Scalar >::operator*(const ForceVector< OtherScalar >& other) const
            {
                ForceVector< OtherScalar > res;
                res.force() = rotation() * other.force();
                res.moment() = rotation() * (other.moment() - translation().cross(other.force()));
                return res;
            }
            
            template< typename Scalar >
            template< typename OtherScalar >
            inline
            MotionVector< OtherScalar >
            PlueckerTransform< Scalar >::operator*(const MotionVector< OtherScalar >& other) const
            {
                MotionVector< OtherScalar > res;
                res.linear() = rotation() * (other.linear() - translation().cross(other.angular()));
                res.angular() = rotation() * other.angular();
                return res;
            }
            
            template< typename Scalar >
            template< typename OtherScalar >
            inline
            RigidBodyInertia< OtherScalar >
            PlueckerTransform< Scalar >::operator*(const RigidBodyInertia< OtherScalar >& other) const
            {
                RigidBodyInertia< OtherScalar > res;
                res.cog() = rotation() * (other.cog() - other.mass() * translation());
                res.inertia() = rotation() * (other.inertia() + translation().cross(other.cog()).cross33() + (other.cog() - other.mass() * translation()).cross(translation()).cross33()) * rotation().transpose();
                res.mass() = other.mass();
                return res;
            }
            
            template< typename Scalar >
            template< typename OtherScalar >
            inline
            ArticulatedBodyInertia< OtherScalar >
            PlueckerTransform< Scalar >::operator*(const ArticulatedBodyInertia< OtherScalar >& other) const
            {
                ArticulatedBodyInertia< OtherScalar > res;
                res.cog() = rotation() * (other.cog() - translation().cross33() * other.mass()) * rotation().transpose();
                res.inertia() = rotation() * (other.inertia() - translation().cross33() * other.cog().transpose() + (other.cog() - translation().cross33() * other.mass()) * translation().cross33()) * rotation().transpose();
                res.mass() = rotation() * other.mass() * rotation().transpose();
                return res;
            }
            
            template< typename Scalar >
            template< typename OtherScalar >
            inline
            ForceVector< OtherScalar >
            PlueckerTransform< Scalar >::operator/(const ForceVector< OtherScalar >& other) const
            {
                ForceVector< OtherScalar > res;
                res.force() = rotation().transpose() * other.force();
                res.moment() = rotation().transpose() * other.moment() + translation().cross(rotation().transpose() * other.force());
                return res;
            }
            
            template< typename Scalar >
            template< typename OtherScalar >
            inline
            MotionVector< OtherScalar >
            PlueckerTransform< Scalar >::operator/(const MotionVector< OtherScalar >& other) const
            {
                MotionVector< OtherScalar > res;
                res.linear() = rotation().transpose() * other.linear() + translation().cross(rotation().transpose() * other.angular());
                res.angular() = rotation().transpose() * other.angular();
                return res;
            }
            
            template< typename Scalar >
            template< typename OtherScalar >
            inline
            RigidBodyInertia< OtherScalar >
            PlueckerTransform< Scalar >::operator/(const RigidBodyInertia< OtherScalar >& other) const
            {
                RigidBodyInertia< OtherScalar > res;
                res.cog() = rotation().transpose() * other.cog() + other.mass() * translation();
                res.inertia() = rotation().transpose() * other.inertia() * rotation() - translation().cross(rotation().transpose() * other.cog()).cross33() - (rotation().transpose() * other.cog() + other.mass() * translation()).cross(translation()).cross33();
                res.mass() = other.mass();
                return res;
            }
            
            template< typename Scalar >
            template< typename OtherScalar >
            inline
            ArticulatedBodyInertia< OtherScalar >
            PlueckerTransform< Scalar >::operator/(const ArticulatedBodyInertia< OtherScalar >& other) const
            {
                ArticulatedBodyInertia< OtherScalar > res;
                typename ArticulatedBodyInertia< OtherScalar >::CenterOfGravityType cog = rotation().transpose() * other.cog() * rotation();
                typename ArticulatedBodyInertia< OtherScalar >::MassType mass = rotation().transpose() * other.mass() * rotation();
                res.cog() = cog + translation().cross33() * mass;
                res.inertia() = rotation().transpose() * other.inertia() * rotation() + translation().cross33() * cog.transpose() - (cog + translation().cross33() * mass) * translation().cross33();
                res.mass() = mass;
                return res;
            }
        }
    }
}
 
#endif // _RL_MATH_PLUECKERTRANSFORM_HXX_