DynamicEquationFunction.h

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#ifndef _OCRA_DYNAMIC_EQUATION_FUNCTION_H_
#define _OCRA_DYNAMIC_EQUATION_FUNCTION_H_

#include "ocra/optim/LinearFunction.h"

namespace ocra
{
  class Model;
}

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

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

  public:
    DynamicEquationFunction(const Model& model);
    ~DynamicEquationFunction();

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

    void doUpdateInputSizeBegin();
    void doUpdateInputSizeEnd();

  private:
    void   buildA();
    static Variable& createDEVariable(const Model& model);

  protected:
    const Model&  _model;
    Variable& _q_ddot;
    Variable& _tau;
    Variable& _f;
  };
}

#endif  //_OCRA_DYNAMIC_EQUATION_FUNCTION_H_

// cmake:sourcegroup=Functions