Dynamics.h

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/*
 * RBDL - Rigid Body Dynamics Library
 * Copyright (c) 2011-2018 Martin Felis <martin@fysx.org>
 *
 * Licensed under the zlib license. See LICENSE for more details.
 */
 
#ifndef RBDL_DYNAMICS_H
#define RBDL_DYNAMICS_H
 
#include <assert.h>
#include <iostream>
 
#include "rbdl/rbdl_math.h"
#include "rbdl/rbdl_mathutils.h"
 
#include "rbdl/Logging.h"
 
namespace RigidBodyDynamics {
 
struct Model;
 
RBDL_DLLAPI void InverseDynamics (
    Model &model,
    const Math::VectorNd &Q,
    const Math::VectorNd &QDot,
    const Math::VectorNd &QDDot,
    Math::VectorNd &Tau,
    std::vector<Math::SpatialVector> *f_ext = NULL
    );
 
RBDL_DLLAPI void NonlinearEffects (
    Model &model,
    const Math::VectorNd &Q,
    const Math::VectorNd &QDot,
    Math::VectorNd &Tau,
    std::vector<Math::SpatialVector> *f_ext = NULL
    );
 
RBDL_DLLAPI void CompositeRigidBodyAlgorithm (
    Model& model,
    const Math::VectorNd &Q,
    Math::MatrixNd &H,
    bool update_kinematics = true
    );
 
RBDL_DLLAPI void ForwardDynamics (
    Model &model,
    const Math::VectorNd &Q,
    const Math::VectorNd &QDot,
    const Math::VectorNd &Tau,
    Math::VectorNd &QDDot,
    std::vector<Math::SpatialVector> *f_ext = NULL
    );
 
RBDL_DLLAPI void ForwardDynamicsLagrangian (
    Model &model,
    const Math::VectorNd &Q,
    const Math::VectorNd &QDot,
    const Math::VectorNd &Tau,
    Math::VectorNd &QDDot,
    Math::LinearSolver linear_solver = Math::LinearSolverColPivHouseholderQR,
    std::vector<Math::SpatialVector> *f_ext = NULL,
    Math::MatrixNd *H = NULL,
    Math::VectorNd *C = NULL
    );
 
RBDL_DLLAPI void CalcMInvTimesTau (
    Model &model,
    const Math::VectorNd &Q,
    const Math::VectorNd &Tau,
    Math::VectorNd &QDDot,
    bool update_kinematics=true
    );
 
}
 
/* RBDL_DYNAMICS_H */
#endif