forward_dynamics.h

 
#ifndef SPATIAL_DYN_ALGORITHMS_FORWARD_DYNAMICS_H_
#define SPATIAL_DYN_ALGORITHMS_FORWARD_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 {
 
Eigen::VectorXd ForwardDynamics(const ArticulatedBody& ab,
                                Eigen::Ref<const Eigen::VectorXd> tau,
                                const std::map<size_t, SpatialForced>& f_external = {},
                                const ForwardDynamicsOptions& options = {});
 
Eigen::VectorXd ForwardDynamicsAba(const ArticulatedBody& ab,
                                   Eigen::Ref<const Eigen::VectorXd> tau,
                                   const std::map<size_t, SpatialForced>& f_external = {},
                                   const ForwardDynamicsOptions& options = {});
 
const Eigen::LDLT<Eigen::MatrixXd>& InertiaInverse(const ArticulatedBody& ab);
 
const Eigen::MatrixXd& InertiaInverseAba(const ArticulatedBody& ab);
 
/*
 * @}
 */  // defgroup cpp_forward_dynamics
 
}  // namespace spatial_dyn
 
#endif  // SPATIAL_DYN_ALGORITHMS_FORWARD_DYNAMICS_H_