Robotics Library  0.6.0
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros
Body.h
Go to the documentation of this file.
1 //
2 // Copyright (c) 2009, Markus Rickert
3 // All rights reserved.
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of the Technische Universitaet Muenchen nor the names of
14 // its contributors may be used to endorse or promote products derived from
15 // this software without specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 // POSSIBILITY OF SUCH DAMAGE.
28 //
29 
30 #ifndef _RL_MDL_BODY_H_
31 #define _RL_MDL_BODY_H_
32 
33 #ifdef WIN32
34 #include <unordered_set>
35 #else // WIN32
36 #include <tr1/unordered_set>
37 #endif // WIN32
38 
39 #include "Frame.h"
40 
41 namespace rl
42 {
43  namespace mdl
44  {
45  class Body : public Frame
46  {
47  public:
48  Body();
49 
50  virtual ~Body();
51 
52  void forwardAcceleration();
53 
54  void forwardDynamics1();
55 
56  void forwardDynamics2();
57 
58  void forwardDynamics3();
59 
60  void forwardPosition();
61 
62  void forwardVelocity();
63 
64  void inverseDynamics1();
65 
66  void inverseDynamics2();
67 
69 
70  void inverseVelocity2();
71 
72  void inverseVelocity3();
73 
75 
77 
79 
81 
82  bool collision;
83 
85 
87 
89 
90  ::std::tr1::unordered_set< Body* > selfcollision;
91 
92  protected:
93 
94  private:
95 
96  };
97  }
98 }
99 
100 #endif // _RL_MDL_BODY_H_