1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
|
/* SPDX-FileCopyrightText: 2009 Ruben Smits
*
* SPDX-License-Identifier: LGPL-2.1-or-later */
/** \file
* \ingroup intern_itasc
*/
#include "UncontrolledObject.hpp"
namespace iTaSC{
UncontrolledObject::UncontrolledObject():Object(UnControlled),
m_nu(0), m_nf(0), m_xudot()
{
}
UncontrolledObject::~UncontrolledObject()
{
}
void UncontrolledObject::initialize(unsigned int _nu, unsigned int _nf)
{
assert (_nf >= 1);
m_nu = _nu;
m_nf = _nf;
if (_nu > 0)
m_xudot = e_zero_vector(_nu);
// clear all Jacobian if any
m_JuArray.clear();
// reserve one more to have an zero matrix handy
if (m_nu > 0)
m_JuArray.resize(m_nf+1, e_zero_matrix(6,m_nu));
}
const e_matrix& UncontrolledObject::getJu(unsigned int frameIndex) const
{
assert (m_nu > 0);
return m_JuArray[(frameIndex>m_nf)?m_nf:frameIndex];
}
}
|
