IS.h

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/*
 * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
// includes
// std
#include <vector>
 
// SpaceVecAlg
#include <SpaceVecAlg/SpaceVecAlg>
 
#include "Jacobian.h"
 
namespace rbd
{
class MultiBody;
struct MultiBodyConfig;
 
class RBDYN_DLLAPI InverseStatics
{
public:
  InverseStatics() {}
  InverseStatics(const MultiBody & mb);
 
  void setJacobianSize(const MultiBody & mb,
                       const MultiBodyConfig & mbc,
                       const std::vector<Eigen::MatrixXd> & jacMomentsAndForces);
 
  void inverseStatics(const MultiBody & mb, MultiBodyConfig & mbc);
 
  void computeTorqueJacobianJoint(const MultiBody & mb,
                                  MultiBodyConfig & mbc,
                                  const std::vector<Eigen::MatrixXd> & jacMomentsAndForces);
 
  void computeTorqueJacobianJoint(const MultiBody & mb, MultiBodyConfig & mbc);
 
  // safe version for python binding
 
  void sInverseStatics(const MultiBody & mb, MultiBodyConfig & mbc);
 
  const std::vector<sva::ForceVecd> & f() const
  {
    return f_;
  };
 
  const std::vector<Eigen::MatrixXd> & jointTorqueDiff() const
  {
    return jointTorqueDiff_;
  };
 
private:
  std::vector<sva::ForceVecd> f_;
  std::vector<Eigen::MatrixXd> df_;
  std::vector<Eigen::MatrixXd> jointTorqueDiff_;
  std::vector<Jacobian> jacW_;
  Eigen::MatrixXd fullJac_;
  bool jacobianSizeHasBeenSet_;
};
 
} // namespace rbd