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Frame.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_MDL_FRAME_H_
31 #define _RL_MDL_FRAME_H_
32 
33 #include <boost/graph/adjacency_list.hpp>
34 #include <rl/math/Transform.h>
35 #include <rl/math/Spatial.h>
36 #include <rl/math/Vector.h>
37 
38 #include "Element.h"
39 
40 namespace rl
41 {
42  namespace mdl
43  {
44  class Frame : public Element
45  {
46  public:
47  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
48 
49  typedef ::boost::adjacency_list<
50  ::boost::listS,
51  ::boost::listS,
52  ::boost::bidirectionalS,
53  ::boost::listS
54  > Tree;
55 
56  typedef Tree::vertex_descriptor Vertex;
57 
58  Frame();
59 
60  virtual ~Frame();
61 
62  virtual void forwardAcceleration();
63 
64  virtual void forwardDynamics1();
65 
66  virtual void forwardDynamics2();
67 
68  virtual void forwardDynamics3();
69 
70  virtual void forwardPosition();
71 
72  virtual void forwardVelocity();
73 
74  const Vertex& getVertexDescriptor() const;
75 
76  virtual void inverseDynamics1();
77 
78  virtual void inverseDynamics2();
79 
80  virtual void inverseForce();
81 
82  virtual void inverseVelocity1(const ::rl::math::Real& lambda);
83 
84  virtual void inverseVelocity2();
85 
86  virtual void inverseVelocity3();
87 
89 
91 
93 
95 
97 
99 
101 
103 
105 
107 
108  protected:
109 
110  private:
112  };
113  }
114 }
115 
116 #endif // _RL_MDL_FRAME_H_