RNEAlgorithm.h

/****************************************************************************
 * Copyright 2006 Evan Drumwright
 * This library is distributed under the terms of the GNU General Public 
 * License (found in COPYING).
 ****************************************************************************/

#ifndef _RNE_ALGO_H
#define _RNE_ALGO_H

#include <Physsim/RCArticulatedBodyInvDynAlgo.h>

namespace Physsim {


class RNEAlgorithm : public RCArticulatedBodyInvDynAlgo
{
        public:
                std::map<JointPtr, VectorN> calc_inv_dyn(RCArticulatedBodyPtr body, const std::map<RigidBodyPtr, RCArticulatedBodyInvDynData>& inv_dyn_data);

        private:
                std::map<JointPtr, VectorN> calc_inv_dyn_fixed_base(RCArticulatedBodyPtr body, const std::map<RigidBodyPtr, RCArticulatedBodyInvDynData>& inv_dyn_data);
                std::map<JointPtr, VectorN> calc_inv_dyn_floating_base(RCArticulatedBodyPtr body, const std::map<RigidBodyPtr, RCArticulatedBodyInvDynData>& inv_dyn_data);
                void set_spatial_iso_inertias(RCArticulatedBodyPtr body, ReferenceFrameType rftype);
                std::vector<SMatrix6> _Iiso;
};
}

#endif

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