jntspaceinertiamatrix.hpp

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// Copyright  (C)  2009  Dominick Vanthienen <dominick dot vanthienen at intermodalics dot eu>
 
// Version: 1.0
// Author: Dominick Vanthienen <dominick dot vanthienen at intermodalics dot eu>
// Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
// URL: http://www.orocos.org/kdl
 
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
 
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.
 
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
#ifndef KDL_JNTSPACEINERTIAMATRIX_HPP
#define KDL_JNTSPACEINERTIAMATRIX_HPP
 
#include "frames.hpp"
#include "jacobian.hpp"
#include "jntarray.hpp"
 
#include <Eigen/Core>
 
namespace KDL
{
    class JntSpaceInertiaMatrix
    {
    public:
        Eigen::MatrixXd data;
 
        JntSpaceInertiaMatrix();
        explicit JntSpaceInertiaMatrix(int size);
        JntSpaceInertiaMatrix(const JntSpaceInertiaMatrix& arg);
        ~JntSpaceInertiaMatrix();
        void resize(unsigned int newSize);
        
        JntSpaceInertiaMatrix& operator = ( const JntSpaceInertiaMatrix& arg);
        double operator()(unsigned int i,unsigned int j)const;
        double& operator()(unsigned int i,unsigned int j);
        unsigned int rows()const;
        unsigned int columns()const;
 
        friend void Add(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
        friend void Subtract(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
        friend void Multiply(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest);
        friend void Divide(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest);
        friend void Multiply(const JntSpaceInertiaMatrix& src, const JntArray& vec, JntArray& dest);
        friend void SetToZero(JntSpaceInertiaMatrix& matrix);
        friend bool Equal(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,double eps);
        friend bool operator==(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
        //friend bool operator!=(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
    };
 
    bool operator==(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
    //bool operator!=(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
 
    void Add(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
 
    void Subtract(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
 
    void Multiply(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest);
 
    void Divide(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest);
 
    void Multiply(const JntSpaceInertiaMatrix& src, const JntArray& vec, JntArray& dest);
 
    void SetToZero(JntSpaceInertiaMatrix& matrix);
 
    bool Equal(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,double eps=epsilon);
 
    bool operator==(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
 
}
 
#endif