ID.h

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/*
 * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
// includes
// std
#include <vector>
 
// SpaceVecAlg
#include <rbdyn/config.hh>
 
#include <SpaceVecAlg/SpaceVecAlg>
 
namespace rbd
{
class MultiBody;
struct MultiBodyConfig;
 
class RBDYN_DLLAPI InverseDynamics
{
public:
  InverseDynamics() {}
  InverseDynamics(const MultiBody & mb);
 
  void inverseDynamics(const MultiBody & mb, MultiBodyConfig & mbc);
  void inverseDynamicsNoInertia(const MultiBody & mb, MultiBodyConfig & mbc);
 
  // safe version for python binding
 
  void sInverseDynamics(const MultiBody & mb, MultiBodyConfig & mbc);
  void sInverseDynamicsNoInertia(const MultiBody & mb, MultiBodyConfig & mbc);
 
  const std::vector<sva::ForceVecd> & f() const;
 
private:
  void computeJointTorques(const MultiBody & mb, MultiBodyConfig & mbc);
 
private:
  std::vector<sva::ForceVecd> f_;
};
 
} // namespace rbd