RNEAlgorithm.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 RNE_ALGORITHM 
#error This class is not to be included by the user directly. Use RNEAlgorithmd.h or RNEAlgorithmf.h instead.
#endif

struct RCArticulatedBodyInvDynData
{
  public:

    SFORCE wext;

    VECTORN qdd;
};
  

class RNE_ALGORITHM
{
  public:
    std::map<boost::shared_ptr<JOINT>, VECTORN> calc_inv_dyn(boost::shared_ptr<RC_ARTICULATED_BODY> body, const std::map<boost::shared_ptr<RIGIDBODY>, RCArticulatedBodyInvDynData>& inv_dyn_data);
    void calc_constraint_forces(boost::shared_ptr<RC_ARTICULATED_BODY> body);

  private:
    std::map<boost::shared_ptr<JOINT>, VECTORN> calc_inv_dyn_fixed_base(boost::shared_ptr<RC_ARTICULATED_BODY> body, const std::map<boost::shared_ptr<RIGIDBODY>, RCArticulatedBodyInvDynData>& inv_dyn_data) const;
    std::map<boost::shared_ptr<JOINT>, VECTORN> calc_inv_dyn_floating_base(boost::shared_ptr<RC_ARTICULATED_BODY> body, const std::map<boost::shared_ptr<RIGIDBODY>, RCArticulatedBodyInvDynData>& inv_dyn_data) const;
};