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.
//
// 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
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// POSSIBILITY OF SUCH DAMAGE.
//
 
#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