rbdl_utils.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_UTILS_H
#define RBDL_UTILS_H
 
#include <string>
#include <rbdl/rbdl_config.h>
#include <rbdl/rbdl_math.h>
 
namespace RigidBodyDynamics {
 
struct Model;
 
namespace Utils {
#ifndef RBDL_USE_CASADI_MATH
RBDL_DLLAPI std::string GetModelHierarchy (const Model &model);
#endif
#ifndef RBDL_USE_CASADI_MATH
RBDL_DLLAPI std::string GetModelDOFOverview (const Model &model);
#endif
RBDL_DLLAPI std::string GetNamedBodyOriginsOverview (Model &model);
 
RBDL_DLLAPI void CalcCenterOfMass (
  Model &model,
  const Math::VectorNd &q,
  const Math::VectorNd &qdot,
  const Math::VectorNd *qddot,
  Math::Scalar &mass,
  Math::Vector3d &com,
  Math::Vector3d *com_velocity = NULL,
  Math::Vector3d *com_acceleration = NULL, 
  Math::Vector3d *angular_momentum = NULL,
  Math::Vector3d *change_of_angular_momentum = NULL,
  bool update_kinematics = true
);
 
RBDL_DLLAPI void CalcZeroMomentPoint (
  Model &model,
  const Math::VectorNd &q, const Math::VectorNd &qdot, const Math::VectorNd &qddot,
  Math::Vector3d* zmp,
  const Math::Vector3d &normal = Math::Vector3d (0., 0., 1.),
  const Math::Vector3d &point = Math::Vector3d (0., 0., 0.),
  bool update_kinematics = true
);
 
RBDL_DLLAPI Math::Scalar CalcPotentialEnergy (Model &model, const Math::VectorNd &q, bool update_kinematics = true);
 
RBDL_DLLAPI Math::Scalar CalcKineticEnergy (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, bool update_kinematics = true);
}
 
}
 
/* RBDL_UTILS_H */
#endif