Body.h

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/*
 * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
// includes
// std
#include <string>
 
// SpaceVecAlg
#include <SpaceVecAlg/SpaceVecAlg>
 
namespace rbd
{
 
class Body
{
public:
  Body() {}
 
  Body(const sva::RBInertiad & rbInertia, std::string name) : inertia_(rbInertia), name_(std::move(name)) {}
 
  Body(double mass, const Eigen::Vector3d & com, const Eigen::Matrix3d & inertia, std::string name)
  : inertia_(mass, mass * com, inertia), name_(std::move(name))
  {
  }
 
  const std::string & name() const
  {
    return name_;
  }
 
  const sva::RBInertiad & inertia() const
  {
    return inertia_;
  }
 
  bool operator==(const Body & b) const
  {
    return name_ == b.name_;
  }
 
  bool operator!=(const Body & b) const
  {
    return name_ != b.name_;
  }
 
private:
  sva::RBInertiad inertia_;
  std::string name_;
};
 
inline std::ostream & operator<<(std::ostream & out, const Body & b)
{
  out << "Body: " << b.name();
  return out;
}
 
} // namespace rbd