/usr/include/kdl/jntspaceinertiamatrix.hpp is in liborocos-kdl-dev 1.3.1+dfsg-1.
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// Version: 1.0
// Author: Dominick Vanthienen <dominick dot vanthienen at mech dot kuleuven dot be>
// Maintainer: Dominick Vanthienen <ruben dot smits at mech dot kuleuven dot be>
// 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
{
/**
* @brief This class represents an fixed size matrix containing
* the Joint-Space Inertia Matrix of a KDL::Chain.
*
* \warning An object constructed with the default constructor provides
* a valid, but inert, object. Many of the member functions will do
* the correct thing and have no affect on this object, but some
* member functions can _NOT_ deal with an inert/empty object. These
* functions will assert() and exit the program instead. The intended use
* case for the default constructor (in an RTT/OCL setting) is outlined in
* code below - the default constructor plus the resize() function allow
* use of JntSpaceInertiaMatrix objects whose size is set within a configureHook() call
* (typically based on a size determined from a property).
\code
class MyTask : public RTT::TaskContext
{
JntSpaceInertiaMatrix j;
MyTask()
{} // invokes j's default constructor
bool configureHook()
{
unsigned int size = some_property.rvalue();
j.resize(size)
...
}
void updateHook()
{
** use j here
}
};
/endcode
*/
class JntSpaceInertiaMatrix
{
public:
Eigen::MatrixXd data;
/** Construct with _no_ data array
* @post NULL == data
* @post 0 == rows()
* @warning use of an object constructed like this, without
* a resize() first, may result in program exit! See class
* documentation.
*/
JntSpaceInertiaMatrix();
/**
* Constructor of the Joint-Space Inertia Matrix
*
* @param size of the matrix, this cannot be changed
* afterwards. Size rows and size columns.
* @pre 0 < size
* @post NULL != data
* @post 0 < rows()
* @post all elements in data have 0 value
*/
explicit JntSpaceInertiaMatrix(int size);
/** Copy constructor
* @note Will correctly copy an empty object
*/
JntSpaceInertiaMatrix(const JntSpaceInertiaMatrix& arg);
~JntSpaceInertiaMatrix();
/** Resize the array
* @warning This causes a dynamic allocation (and potentially
* also a dynamic deallocation). This _will_ negatively affect
* real-time performance!
*
* @post newSize == rows()
* @post NULL != data
* @post all elements in data have 0 value
*/
void resize(unsigned int newSize);
JntSpaceInertiaMatrix& operator = ( const JntSpaceInertiaMatrix& arg);
/**
* get_item operator for the joint matrix
*
*
* @return the joint value at position i, starting from 0
* @pre 0 != size (ie non-default constructor or resize() called)
*/
double operator()(unsigned int i,unsigned int j)const;
/**
* set_item operator
*
* @return reference to the joint value at position i,starting
*from zero.
* @pre 0 != size (ie non-default constructor or resize() called)
*/
double& operator()(unsigned int i,unsigned int j);
/**
* Returns the number of rows and columns of the matrix
*
*/
unsigned int rows()const;
/**
* Returns the number of columns of the matrix.
*/
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);
/**
* Function to add two joint matrix, all the arguments must
* have the same size: A + B = C. This function is
* aliasing-safe, A or B can be the same array as C.
*
* @param src1 A
* @param src2 B
* @param dest C
*/
void Add(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
/**
* Function to subtract two joint matrix, all the arguments must
* have the same size: A - B = C. This function is
* aliasing-safe, A or B can be the same array as C.
*
* @param src1 A
* @param src2 B
* @param dest C
*/
void Subtract(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
/**
* Function to multiply all the array values with a scalar
* factor: A*b=C. This function is aliasing-safe, A can be the
* same array as C.
*
* @param src A
* @param factor b
* @param dest C
*/
void Multiply(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest);
/**
* Function to divide all the array values with a scalar
* factor: A/b=C. This function is aliasing-safe, A can be the
* same array as C.
*
* @param src A
* @param factor b
* @param dest C
*/
void Divide(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest);
/**
* Function to multiply a KDL::Jacobian with a KDL::JntSpaceInertiaMatrix
* to get a KDL::Twist, it should not be used to calculate the
* forward velocity kinematics, the solver classes are built
* for this purpose.
* J*q = t
*
* @param jac J
* @param src q
* @param dest t
* @post dest==Twist::Zero() if 0==src.rows() (ie src is empty)
*/
void Multiply(const JntSpaceInertiaMatrix& src, const JntArray& vec, JntArray& dest);
/**
* Function to set all the values of the array to 0
*
* @param array
*/
void SetToZero(JntSpaceInertiaMatrix& matrix);
/**
* Function to check if two matrices are the same with a
*precision of eps
*
* @param src1
* @param src2
* @param eps default: epsilon
* @return true if each element of src1 is within eps of the same
* element in src2, or if both src1 and src2 have no data (ie 0==rows())
*/
bool Equal(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,double eps=epsilon);
bool operator==(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
}
#endif
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