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);
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_;
Definition: matrix-inertia.h:40
void getInertiaMatrix(double *A)
size_t getDoF()
Definition: matrix-inertia.h:58
void computeInertiaMatrix()
void init(CjrlHumanoidDynamicRobot *aHDR)
const maal::boost::Matrix & getInertiaMatrix(void)
MatrixInertia(CjrlHumanoidDynamicRobot *aHDR)
#define SOTMATRIXINERTIA_EXPORT
Definition: matrix-inertia.h:30
Definition: angle-estimator.h:42