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/*
* Copyright (C) 2010 Learning Algorithms and Systems Laboratory, EPFL, Switzerland
* Author: Eric Sauser
* email: eric.sauser@a3.epf.ch
* website: lasa.epfl.ch
*
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details
*/
#ifndef SPATIAL_VELOCITY_H
#define SPATIAL_VELOCITY_H
#include "SpatialVector.h"
#include "SpatialForce.h"
#ifdef USE_MATHLIB_NAMESPACE
namespace MathLib {
#endif
/**
* \class SpatialVelocity
*
* \ingroup MathLib
*
* \brief An implementation of the template TVector class for Spatial Vector notation
*/
class SpatialVelocity : public SpatialVector
{
public:
/// Empty constructor
inline SpatialVelocity():SpatialVector(){};
/// Copy constructor
inline SpatialVelocity(const SpatialVelocity &vector):SpatialVector(vector){};
/// Data-based constructor
inline SpatialVelocity(REALTYPE wx, REALTYPE wy, REALTYPE wz, REALTYPE x, REALTYPE y, REALTYPE z):SpatialVector(wx,wy,wz,x,y,z){}
/// Vector component-based constructor
inline SpatialVelocity(const Vector3& angular, const Vector3& linear):SpatialVector(angular,linear){}
/// Destructor
inline ~SpatialVelocity(){};
inline SpatialVelocity Cross(SpatialVelocity& motion){
SpatialVelocity result;
Cross(motion,result);
return result;
}
inline SpatialVelocity& Cross(SpatialVelocity& motion, SpatialVelocity& result){
mLinear.Cross(motion.mAngular,result.mAngular);
mAngular.Cross(motion.mLinear,result.mLinear);
result.mLinear += result.mAngular;
mAngular.Cross(motion.mAngular,result.mAngular);
return result;
}
inline SpatialForce Cross(SpatialForce& force){
SpatialForce result;
Cross(force,result);
return result;
}
inline SpatialForce& Cross(SpatialForce& force, SpatialForce& result){
mAngular.Cross(force.mAngular,result.mAngular);
mLinear.Cross(force.mLinear,result.mLinear);
result.mAngular += result.mLinear;
mAngular.Cross(force.mLinear,result.mLinear);
return result;
}
};
#ifdef USE_MATHLIB_NAMESPACE
}
#endif
#endif
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