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#ifndef DILLCREATOR_HPP_
#define DILLCREATOR_HPP_
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics
{
/// Creator class for building a "Dill" system as intruduced as benchmark example in
/// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
/// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International
/// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
///
/// This is a self-similar branched tree, somewhat resembling a dill plant
class DillCreator : public MultiBodyTreeCreator
{
public:
/// ctor
/// @param levels the number of dill levels
DillCreator(int levels);
/// dtor
~DillCreator();
///\copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
void** user_ptr) const;
private:
/// recursively generate dill bodies.
/// TODO better documentation
int recurseDill(const int levels, const int parent, const idScalar d_DH_in,
const idScalar a_DH_in, const idScalar alpha_DH_in);
int m_level;
int m_num_bodies;
idArray<int>::type m_parent;
idArray<vec3>::type m_parent_r_parent_body_ref;
idArray<mat33>::type m_body_T_parent_ref;
idArray<vec3>::type m_body_axis_of_motion;
idArray<idScalar>::type m_mass;
idArray<vec3>::type m_body_r_body_com;
idArray<mat33>::type m_body_I_body;
int m_current_body;
};
} // namespace btInverseDynamics
#endif
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