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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef __SOT_SOTMASSAPPARENT_H__ |
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#define __SOT_SOTMASSAPPARENT_H__ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* Matrix */ |
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#include <dynamic-graph/linear-algebra.h> |
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/* SOT */ |
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#include <dynamic-graph/entity.h> |
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#include <dynamic-graph/signal-ptr.h> |
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#include <dynamic-graph/signal-time-dependent.h> |
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#include <sot/core/matrix-geometry.hh> |
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/* STD */ |
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#include <string> |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(mass_apparent_EXPORTS) |
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#define SOTMASSAPPARENT_EXPORT __declspec(dllexport) |
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#else |
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#define SOTMASSAPPARENT_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTMASSAPPARENT_EXPORT |
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#endif |
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namespace dynamicgraph { |
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namespace sot { |
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namespace dg = dynamicgraph; |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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class SOTMASSAPPARENT_EXPORT MassApparent : public dg::Entity { |
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public: |
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static const std::string CLASS_NAME; |
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✗ |
virtual const std::string& getClassName(void) const { return CLASS_NAME; } |
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public: /* --- CONSTRUCTION --- */ |
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MassApparent(const std::string& name); |
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virtual ~MassApparent(void); |
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public: /* --- SIGNAL --- */ |
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dg::SignalPtr<dynamicgraph::Matrix, int> jacobianSIN; |
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dg::SignalPtr<dynamicgraph::Matrix, int> inertiaInverseSIN; |
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dg::SignalTimeDependent<dynamicgraph::Matrix, int> massInverseSOUT; |
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dg::SignalTimeDependent<dynamicgraph::Matrix, int> massSOUT; |
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dg::SignalPtr<dynamicgraph::Matrix, int> inertiaSIN; |
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dg::SignalTimeDependent<dynamicgraph::Matrix, int> inertiaInverseSOUT; |
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public: /* --- FUNCTIONS --- */ |
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dynamicgraph::Matrix& computeMassInverse(dynamicgraph::Matrix& res, |
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const int& time); |
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dynamicgraph::Matrix& computeMass(dynamicgraph::Matrix& res, const int& time); |
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dynamicgraph::Matrix& computeInertiaInverse(dynamicgraph::Matrix& res, |
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const int& time); |
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}; |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // #ifndef __SOT_SOTMASSAPPARENT_H__ |
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