1 |
|
|
/* |
2 |
|
|
* Copyright 2010, |
3 |
|
|
* François Bleibel, |
4 |
|
|
* Olivier Stasse, |
5 |
|
|
* |
6 |
|
|
* CNRS/AIST |
7 |
|
|
* |
8 |
|
|
*/ |
9 |
|
|
|
10 |
|
|
#ifndef __SOT_SOTMASSAPPARENT_H__ |
11 |
|
|
#define __SOT_SOTMASSAPPARENT_H__ |
12 |
|
|
|
13 |
|
|
/* --------------------------------------------------------------------- */ |
14 |
|
|
/* --- INCLUDE --------------------------------------------------------- */ |
15 |
|
|
/* --------------------------------------------------------------------- */ |
16 |
|
|
|
17 |
|
|
/* Matrix */ |
18 |
|
|
#include <dynamic-graph/linear-algebra.h> |
19 |
|
|
|
20 |
|
|
/* SOT */ |
21 |
|
|
#include <dynamic-graph/entity.h> |
22 |
|
|
#include <dynamic-graph/signal-ptr.h> |
23 |
|
|
#include <dynamic-graph/signal-time-dependent.h> |
24 |
|
|
|
25 |
|
|
#include <sot/core/matrix-geometry.hh> |
26 |
|
|
|
27 |
|
|
/* STD */ |
28 |
|
|
#include <string> |
29 |
|
|
|
30 |
|
|
/* --------------------------------------------------------------------- */ |
31 |
|
|
/* --- API ------------------------------------------------------------- */ |
32 |
|
|
/* --------------------------------------------------------------------- */ |
33 |
|
|
|
34 |
|
|
#if defined(WIN32) |
35 |
|
|
#if defined(mass_apparent_EXPORTS) |
36 |
|
|
#define SOTMASSAPPARENT_EXPORT __declspec(dllexport) |
37 |
|
|
#else |
38 |
|
|
#define SOTMASSAPPARENT_EXPORT __declspec(dllimport) |
39 |
|
|
#endif |
40 |
|
|
#else |
41 |
|
|
#define SOTMASSAPPARENT_EXPORT |
42 |
|
|
#endif |
43 |
|
|
|
44 |
|
|
namespace dynamicgraph { |
45 |
|
|
namespace sot { |
46 |
|
|
namespace dg = dynamicgraph; |
47 |
|
|
|
48 |
|
|
/* --------------------------------------------------------------------- */ |
49 |
|
|
/* --- CLASS ----------------------------------------------------------- */ |
50 |
|
|
/* --------------------------------------------------------------------- */ |
51 |
|
|
class SOTMASSAPPARENT_EXPORT MassApparent : public dg::Entity { |
52 |
|
|
public: |
53 |
|
|
static const std::string CLASS_NAME; |
54 |
|
|
virtual const std::string& getClassName(void) const { return CLASS_NAME; } |
55 |
|
|
|
56 |
|
|
public: /* --- CONSTRUCTION --- */ |
57 |
|
|
MassApparent(const std::string& name); |
58 |
|
|
virtual ~MassApparent(void); |
59 |
|
|
|
60 |
|
|
public: /* --- SIGNAL --- */ |
61 |
|
|
dg::SignalPtr<dynamicgraph::Matrix, int> jacobianSIN; |
62 |
|
|
dg::SignalPtr<dynamicgraph::Matrix, int> inertiaInverseSIN; |
63 |
|
|
dg::SignalTimeDependent<dynamicgraph::Matrix, int> massInverseSOUT; |
64 |
|
|
dg::SignalTimeDependent<dynamicgraph::Matrix, int> massSOUT; |
65 |
|
|
|
66 |
|
|
dg::SignalPtr<dynamicgraph::Matrix, int> inertiaSIN; |
67 |
|
|
dg::SignalTimeDependent<dynamicgraph::Matrix, int> inertiaInverseSOUT; |
68 |
|
|
|
69 |
|
|
public: /* --- FUNCTIONS --- */ |
70 |
|
|
dynamicgraph::Matrix& computeMassInverse(dynamicgraph::Matrix& res, |
71 |
|
|
const int& time); |
72 |
|
|
dynamicgraph::Matrix& computeMass(dynamicgraph::Matrix& res, const int& time); |
73 |
|
|
dynamicgraph::Matrix& computeInertiaInverse(dynamicgraph::Matrix& res, |
74 |
|
|
const int& time); |
75 |
|
|
}; |
76 |
|
|
|
77 |
|
|
} // namespace sot |
78 |
|
|
} // namespace dynamicgraph |
79 |
|
|
|
80 |
|
|
#endif // #ifndef __SOT_SOTMASSAPPARENT_H__ |