CDynamicsAnalyticBase.hpp

/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.

Alternatively, you can redistribute it and/or
modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of
the License, or (at your option) any later version.

scl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
*/
/* \file CDynamicsAnalyticBase.hpp
 *
 *  Created on: Sep 3, 2013
 *
 *  Copyright (C) 2013
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef CDYNAMICSANALYTICBASE_HPP_
#define CDYNAMICSANALYTICBASE_HPP_

#include <scl/DataTypes.hpp>

#include <scl/data_structs/SRobotIO.hpp>
#include <scl/data_structs/SGcModel.hpp>

#include <Eigen/Dense>
#include <string>

namespace scl {

class CDynamicsAnalyticBase {
public:
  virtual sBool computeGCModel(
      const Eigen::VectorXd &arg_q,
      SGcModel& arg_gc_model)=0;

  virtual sBool computeTransformationMatrix(
      const Eigen::VectorXd &arg_q,
      sInt arg_link_id,
      sInt arg_ancestor_link_id,
      Eigen::Affine3d& arg_T)=0;

  virtual sBool computeJacobian(
      const Eigen::VectorXd &arg_q,
      sInt arg_link_id,
      const Eigen::VectorXd& arg_pos_local,
      Eigen::MatrixXd& arg_J)=0;

  /* **************************************************************
   *                   Data access functions
   * ************************************************************** */
  virtual sUInt getIdForLink(std::string arg_link_name)=0;

  /* **************************************************************
   *                   Initialization functions
   * ************************************************************** */
  CDynamicsAnalyticBase() : has_been_init_(false){}

  virtual ~CDynamicsAnalyticBase(){}

  virtual sBool init(const SRobotParsed& arg_robot_data)=0;

  virtual sBool hasBeenInit() {  return has_been_init_;  }

  /* **************************************************************
   *                            Data
   * ************************************************************** */
protected:
  sBool has_been_init_;
};

}

#endif /* CDYNAMICSANALYTICBASE_HPP_ */