10 #ifndef __SOT_SOTMATRIXINERTIA_H__ 11 #define __SOT_SOTMATRIXINERTIA_H__ 15 #include "dynamic-graph/linear-algebra.h" 17 #include <sot/core/matrix-geometry.hh> 24 #if defined(matrix_inertia_EXPORTS) 25 #define SOTMATRIXINERTIA_EXPORT __declspec(dllexport) 27 #define SOTMATRIXINERTIA_EXPORT __declspec(dllimport) 30 #define SOTMATRIXINERTIA_EXPORT 45 void initParents(
void);
46 void initDofTable(
void);
51 void init(CjrlHumanoidDynamicRobot* aHDR);
55 void computeInertiaMatrix();
56 void getInertiaMatrix(
double* A);
57 const maal::boost::Matrix& getInertiaMatrix(
void);
58 size_t getDoF() {
return joints_.size(); }
61 CjrlHumanoidDynamicRobot* aHDR_;
62 dynamicsJRLJapan::HumanoidDynamicMultiBody* aHDMB_;
63 std::vector<CjrlJoint*> joints_;
64 std::vector<int> parentIndex_;
66 std::vector<dynamicgraph::Matrix> Ic;
67 std::vector<dynamicgraph::Vector> phi;
68 std::vector<MatrixTwist> iVpi;
69 std::vector<MatrixForce> iVpiT;
70 dynamicgraph::Matrix inertia_;
76 #endif // __SOT_SOTMATRIXINERTIA_H__ #define SOTMATRIXINERTIA_EXPORT
Definition: matrix-inertia.h:30
size_t getDoF()
Definition: matrix-inertia.h:58
Definition: matrix-inertia.h:40
Definition: angle-estimator.h:42