RCArticulatedBodyInvDynAlgo.h

/****************************************************************************
 * Copyright 2006 Evan Drumwright
 * This library is distributed under the terms of the Apache V2.0 
 * License (obtainable from http://www.apache.org/licenses/LICENSE-2.0).
 ****************************************************************************/

#ifndef _RC_ARTICULATED_BODY_INV_DYN_ALGO_H
#define _RC_ARTICULATED_BODY_INV_DYN_ALGO_H

#include <map>
#include <Moby/Base.h>

namespace Moby {

class RCArticulatedBody;

class RCArticulatedBodyInvDynData
{
  public:

    Ravelin::SForced wext;

    Ravelin::VectorNd qdd;
};
  
class RCArticulatedBodyInvDynAlgo : public virtual Base
{
  public:
    RCArticulatedBodyInvDynAlgo() { }
    virtual ~RCArticulatedBodyInvDynAlgo() {}


    virtual std::map<boost::shared_ptr<Joint>, Ravelin::VectorNd> calc_inv_dyn(boost::shared_ptr<RCArticulatedBody> body, const std::map<boost::shared_ptr<RigidBody>, RCArticulatedBodyInvDynData>& inv_dyn_data) = 0;
}; // end class
} // end namespace

#endif