discrete_dynamics.h

 
#ifndef SPATIAL_DYN_ALGORITHMS_DISCRETE_DYNAMICS_H_
#define SPATIAL_DYN_ALGORITHMS_DISCRETE_DYNAMICS_H_
 
#include <map>  // std::map
 
#include "spatial_dyn/eigen/spatial_math.h"
#include "spatial_dyn/structs/articulated_body.h"
#include "spatial_dyn/structs/options.h"
 
namespace spatial_dyn {
namespace discrete {
 
Eigen::VectorXd InverseDynamics(const ArticulatedBody& ab, Eigen::Ref<const Eigen::VectorXd> q_next,
                                const double dt,
                                const std::map<size_t, SpatialForced>& f_external = {},
                                const InverseDynamicsOptions& options = {});
 
void Integrate(ArticulatedBody& ab, Eigen::Ref<const Eigen::VectorXd> tau, double dt,
               const std::map<size_t, SpatialForced>& f_external = {},
               const IntegrationOptions& options = {});
 
}  // namespace discrete
}  // namespace spatial_dyn
 
#endif  // SPATIAL_DYN_ALGORITHMS_DISCRETE_DYNAMICS_H_