rbdl_math.h

Go to the documentation of this file.

/*
 * 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_MATH_H
#define RBDL_MATH_H
 
#include "rbdl/rbdl_config.h"
 
#ifdef RBDL_USE_CASADI_MATH
#include "CasadiMath/MX_Xd_utils.h"
 
typedef RBDLCasadiMath::MX_Xd_scalar Vector1_t;
typedef RBDLCasadiMath::MX_Xd_static<2,1> Vector2_t;
typedef RBDLCasadiMath::MX_Xd_static<3,1> Vector3_t;
typedef RBDLCasadiMath::MX_Xd_static<2,2> Matrix2_t;
typedef RBDLCasadiMath::MX_Xd_static<3,3> Matrix3_t;
typedef RBDLCasadiMath::MX_Xd_static<4,1> Vector4_t;
 
typedef RBDLCasadiMath::MX_Xd_static<6,1> SpatialVector_t;
typedef RBDLCasadiMath::MX_Xd_static<6,6> SpatialMatrix_t;
 
typedef RBDLCasadiMath::MX_Xd_static<6,3> Matrix63_t;
typedef RBDLCasadiMath::MX_Xd_static<4,3> Matrix43_t;
typedef RBDLCasadiMath::MX_Xd_static<4,4> Matrix4_t;
 
typedef RBDLCasadiMath::MX_Xd_dynamic MatrixN_t;
typedef RBDLCasadiMath::MX_Xd_dynamic VectorN_t;
 
 
#else
#include <Eigen/Dense>
#include <Eigen/Core>
#include <Eigen/StdVector>
#include <Eigen/QR>
 
#include "rbdl/rbdl_eigenmath.h"
 
typedef double Vector1_t;
typedef Eigen::Matrix<double, 2, 2> Matrix2_t;
typedef Eigen::Matrix<double, 6, 3> Matrix63_t;
typedef Eigen::Matrix<double, 4, 3> Matrix43_t;
 
typedef Eigen::VectorXd VectorN_t;
typedef Eigen::MatrixXd MatrixN_t;
#endif
 
namespace RigidBodyDynamics {
 
namespace Math {
typedef Vector1_t  Scalar;
typedef Vector2_t Vector2d;
typedef Vector3_t Vector3d;
typedef Vector4_t Vector4d;
typedef Matrix2_t Matrix2d;
typedef Matrix3_t Matrix3d;
typedef SpatialVector_t SpatialVector;
typedef SpatialMatrix_t SpatialMatrix;
typedef Matrix63_t Matrix63;
typedef Matrix43_t Matrix43;
typedef Matrix4_t Matrix4d;
typedef VectorN_t VectorNd;
typedef MatrixN_t MatrixNd;
 
} /* Math */
 
} /* RigidBodyDynamics */
 
#include "rbdl/Quaternion.h"
#include "rbdl/SpatialAlgebraOperators.h"
 
// If we use Eigen3 we have to create specializations of the STL
// std::vector such that the alignment is done properly.
#ifndef RBDL_USE_CASADI_MATH
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(RigidBodyDynamics::Math::SpatialVector)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(RigidBodyDynamics::Math::SpatialMatrix)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(RigidBodyDynamics::Math::Matrix63)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(RigidBodyDynamics::Math::Matrix43)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(RigidBodyDynamics::Math::SpatialTransform)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(RigidBodyDynamics::Math::SpatialRigidBodyInertia)
#endif
 
  /* RBDL_MATH_H_H */
#endif