FullDynamicEquationFunction.h

Go to the documentation of this file.

#ifndef _FULLDYNAMICEQUATIONFUNCTION_H_
#define _FULLDYNAMICEQUATIONFUNCTION_H_


#include "ocra/optim/LinearFunction.h"
#include "ocra/control/Model.h"
#include "ocra/optim/Variable.h"
#include "ocra/optim/Constraint.h"


namespace ocra
{


class FullDynamicEquationFunction: public LinearFunction
{
    public:
        typedef LinearFunction  functionType_t;     //< alias on the type of the mother class. Needed to duplicate the function tree.

        FullDynamicEquationFunction(const Model& model);
        ~FullDynamicEquationFunction();

        void takeIntoAccountGravity(bool useGrav);

        const Eigen::MatrixXd& getInertiaMatrixInverseJchiT() const;
        const Eigen::VectorXd& getInertiaMatrixInverseLinNonLinGrav() const;
        Variable&         getActionVariable() const;

    protected:
        void updateJacobian() const;
        void updateb()        const;
        void buildA();

        virtual void doUpdateInputSizeBegin();
        virtual void doUpdateInputSizeEnd();


    private: // Forbid copy
    FullDynamicEquationFunction(FullDynamicEquationFunction&);
    FullDynamicEquationFunction& operator= (const FullDynamicEquationFunction&);

        static Variable& createDEVariable(const Model& model);

        void invalidateReducedProblemData(int timestamp);

    private:
        struct Pimpl;
        boost::shared_ptr<Pimpl> pimpl;

};
}

#endif