state_equation_data.hpp

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#ifndef ROBOTOC_STATE_EQUATION_DATA_HPP_
#define ROBOTOC_STATE_EQUATION_DATA_HPP_
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/robot/se3_jacobian_inverse.hpp"
 
 
namespace robotoc {
 
class StateEquationData {
public:
  StateEquationData(const Robot& robot);
 
  StateEquationData();
  
  ~StateEquationData() = default;
 
  StateEquationData(const StateEquationData&) = default;
 
  StateEquationData& operator=(const StateEquationData&) = default;
 
  StateEquationData(StateEquationData&&) noexcept = default;
 
  StateEquationData& operator=(StateEquationData&&) noexcept = default;
 
  Eigen::MatrixXd Fqq_prev;
 
  Eigen::MatrixXd Fqq_inv;
 
  Eigen::MatrixXd Fqq_prev_inv;
 
  Eigen::MatrixXd Fqq_tmp;  
 
  Eigen::VectorXd Fq_tmp;
 
  SE3JacobianInverse se3_jac_inverse;
 
  bool hasFloatingBase() const { return has_floating_base_; }
 
private:
  bool has_floating_base_;
};
 
} // namespace robotoc 
 
#endif // ROBOTOC_STATE_EQUATION_DATA_HPP_