CoMFunction.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_tvm/CoM.h>
 
#include <mc_rbdyn/fwd.h>
 
#include <tvm/function/abstract/Function.h>
 
namespace mc_tvm
{
 
struct MC_TVM_DLLAPI CoMFunction : tvm::function::abstract::Function
{
  SET_UPDATES(CoMFunction, Value, Velocity, Jacobian, NormalAcceleration, JDot)
 
  
  CoMFunction(const mc_rbdyn::Robot & robot);
 
  void reset();
 
  inline const Eigen::Vector3d & com() const noexcept { return com_; }
 
  inline void com(const Eigen::Vector3d & com) noexcept { com_ = com; }
 
  inline const Eigen::Vector3d & actual() const noexcept { return comAlgo_.com(); }
 
  inline const Eigen::Vector3d & refVel() const noexcept { return refVel_; }
 
  inline void refVel(const Eigen::Vector3d & refVel) noexcept { refVel_ = refVel; }
 
  inline const Eigen::Vector3d & refAccel() const noexcept { return refAccel_; }
 
  inline void refAccel(const Eigen::Vector3d & refAccel) noexcept { refAccel_ = refAccel; }
 
private:
  const mc_tvm::CoM & comAlgo_;
  Eigen::Vector3d com_;
  Eigen::Vector3d refVel_;
  Eigen::Vector3d refAccel_;
 
  void updateValue();
  void updateVelocity();
  void updateJacobian();
  void updateNormalAcceleration();
  void updateJDot();
};
 
} // namespace mc_tvm