10 #ifndef __SOT_SOTMATRIXINERTIA_H__
11 #define __SOT_SOTMATRIXINERTIA_H__
14 #include <sot/core/matrix-geometry.hh>
16 #include "dynamic-graph/linear-algebra.h"
23 #if defined(matrix_inertia_EXPORTS)
24 #define SOTMATRIXINERTIA_EXPORT __declspec(dllexport)
26 #define SOTMATRIXINERTIA_EXPORT __declspec(dllimport)
29 #define SOTMATRIXINERTIA_EXPORT
44 void initParents(
void);
45 void initDofTable(
void);
50 void init(CjrlHumanoidDynamicRobot* aHDR);
54 void computeInertiaMatrix();
55 void getInertiaMatrix(
double* A);
56 const maal::boost::Matrix& getInertiaMatrix(
void);
57 size_t getDoF() {
return joints_.size(); }
60 CjrlHumanoidDynamicRobot* aHDR_;
61 dynamicsJRLJapan::HumanoidDynamicMultiBody* aHDMB_;
62 std::vector<CjrlJoint*> joints_;
63 std::vector<int> parentIndex_;
65 std::vector<dynamicgraph::Matrix> Ic;
66 std::vector<dynamicgraph::Vector> phi;
67 std::vector<MatrixTwist> iVpi;
68 std::vector<MatrixForce> iVpiT;
69 dynamicgraph::Matrix inertia_;
75 #endif // __SOT_SOTMATRIXINERTIA_H__