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Transform.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_MDL_TRANSFORM_H_
31 #define _RL_MDL_TRANSFORM_H_
32 
33 #include <boost/graph/adjacency_list.hpp>
34 #include <rl/math/Spatial.h>
35 #include <rl/math/Transform.h>
36 
37 #include "Element.h"
38 
39 namespace rl
40 {
41  namespace mdl
42  {
43  class Frame;
44 
45  class Transform : public Element
46  {
47  public:
48  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
49 
50  typedef ::boost::adjacency_list<
51  ::boost::listS,
52  ::boost::listS,
53  ::boost::bidirectionalS,
54  ::boost::listS
55  > Tree;
56 
57  typedef Tree::edge_descriptor Edge;
58 
59  Transform();
60 
61  virtual ~Transform();
62 
63  virtual void forwardAcceleration();
64 
65  virtual void forwardDynamics1();
66 
67  virtual void forwardDynamics2();
68 
69  virtual void forwardDynamics3();
70 
71  void forwardPosition();
72 
73  virtual void forwardVelocity();
74 
75  const Edge& getEdgeDescriptor() const;
76 
77  virtual void inverseDynamics1();
78 
79  virtual void inverseDynamics2();
80 
81  virtual void inverseForce();
82 
83  virtual void inverseVelocity1(const ::rl::math::Real& lambda);
84 
85  virtual void inverseVelocity2();
86 
87  virtual void inverseVelocity3();
88 
89  void setEdgeDescriptor(const Edge& descriptor);
90 
92 
94 
96 
98 
99  protected:
100 
101  private:
103  };
104  }
105 }
106 
107 #endif // _RL_MDL_TRANSFORM_H_