ArticulatedBodyInertia.hxx

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//
// Copyright (c) 2009, Markus Rickert
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#ifndef RL_MATH_ARTICULATEDBODYINERTIA_HXX
#define RL_MATH_ARTICULATEDBODYINERTIA_HXX
 
namespace rl
{
    namespace math
    {
        namespace spatial
        {
            template<typename Scalar>
            template<typename OtherScalar>
            inline
            ArticulatedBodyInertia<Scalar>&
            ArticulatedBodyInertia<Scalar>::operator=(const RigidBodyInertia<OtherScalar>& other)
            {
                cog() = other.cog().cross33();
                inertia() = other.inertia();
                mass() = ::Eigen::Matrix<Scalar, 3, 3>::Identity() * other.mass();
                return *this;
            }
            
            template<typename Scalar>
            template<typename OtherScalar>
            inline
            ForceVector<Scalar>
            ArticulatedBodyInertia<Scalar>::operator*(const MotionVector<OtherScalar>& other) const
            {
                ForceVector<Scalar> res;
                res.moment() = inertia() * other.angular() + cog() * other.linear();
                res.force() = mass() * other.linear() + cog().transpose() * other.angular();
                return res;
            }
        }
    }
}
 
#endif // RL_MATH_ARTICULATEDBODYINERTIA_HXX