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41 lines
1.4 KiB
C++
41 lines
1.4 KiB
C++
#ifndef COILCREATOR_HPP_
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#define COILCREATOR_HPP_
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#include "MultiBodyTreeCreator.hpp"
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namespace btInverseDynamics {
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/// Creator class for building a "coil" system as intruduced as benchmark example in
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/// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
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/// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International
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/// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
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///
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/// This is a serial chain, with an initial configuration resembling a coil.
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class CoilCreator : public MultiBodyTreeCreator {
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public:
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/// ctor.
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/// @param n the number of bodies in the system
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CoilCreator(int n);
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/// dtor
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~CoilCreator();
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// \copydoc MultiBodyTreeCreator::getNumBodies
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int getNumBodies(int* num_bodies) const;
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// \copydoc MultiBodyTreeCreator::getBody
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int getBody(const int body_index, int* parent_index, JointType* joint_type,
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vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
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idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
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void** user_ptr) const;
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private:
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int m_num_bodies;
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std::vector<int> m_parent;
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vec3 m_parent_r_parent_body_ref;
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mat33 m_body_T_parent_ref;
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vec3 m_body_axis_of_motion;
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idScalar m_mass;
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vec3 m_body_r_body_com;
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mat33 m_body_I_body;
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};
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}
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#endif
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