Dynamic.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.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_MDL_DYNAMIC_H
#define RL_MDL_DYNAMIC_H
 
#include "Kinematic.h"
 
namespace rl
{
    namespace mdl
    {
        class Dynamic : public Kinematic
        {
        public:
            Dynamic();
            
            virtual ~Dynamic();
            
            void calculateCentrifugalCoriolis();
            
            void calculateCentrifugalCoriolis(::rl::math::Vector& V);
            
            void calculateGravity();
            
            void calculateGravity(::rl::math::Vector& G);
            
            void calculateMassMatrix();
            
            void calculateMassMatrix(::rl::math::Matrix& M);
            
            void calculateMassMatrixInverse();
            
            void calculateMassMatrixInverse(::rl::math::Matrix& invM);
            
            void calculateOperationalMassMatrixInverse();
            
            void calculateOperationalMassMatrixInverse(const ::rl::math::Matrix& J, const ::rl::math::Matrix& invM, ::rl::math::Matrix& invMx) const;
            
            Model* clone() const;
            
            void eulerCauchy(const ::rl::math::Real& dt);
            
            void forwardDynamics();
            
            const ::rl::math::Vector& getCentrifugalCoriolis() const;
            
            const ::rl::math::Vector& getGravity() const;
            
            const ::rl::math::Matrix& getMassMatrixInverse() const;
            
            const ::rl::math::Matrix& getMassMatrix() const;
            
            const ::rl::math::Matrix& getOperationalMassMatrixInverse() const;
            
            void getWorldGravity(::rl::math::Real& x, ::rl::math::Real& y, ::rl::math::Real& z) const;
            
            void getWorldGravity(::rl::math::Vector& xyz) const;
            
            void inverseDynamics();
            
            void inverseForce();
            
            void rungeKuttaNystrom(const ::rl::math::Real& dt);
            
            void setWorldGravity(const ::rl::math::Real& x, const ::rl::math::Real& y, const ::rl::math::Real& z);
            
            void setWorldGravity(const ::rl::math::Vector& xyz);
            
            virtual void update();
            
        protected:
            ::rl::math::Vector G;
            
            ::rl::math::Matrix invM;
            
            ::rl::math::Matrix invMx;
            
            ::rl::math::Matrix M;
            
            ::rl::math::Vector V;
            
        private:
            
        };
    }
}
 
#endif // RL_MDL_DYNAMIC_H