Wrench.h

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/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
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 */

#ifndef _MIRA_WRENCH_H_
#define _MIRA_WRENCH_H_

#include <math/Eigen.h>

#include <utils/IsCheapToCopy.h>

namespace mira { namespace robot {


template <typename ScalarType>
class Wrench2
{
    typedef Eigen::Matrix<ScalarType,2,1> VectorType;

public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW


    Wrench2() {}

    Wrench2(const VectorType& f, ScalarType t) :
        force(f),
        torque(t)
    {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("Force", force, "The force");
        r.property("Torque", torque, "The torque");
    }


public:
    VectorType force;
    ScalarType torque;
};

template <typename ScalarType>
class Wrench3
{
    typedef Eigen::Matrix<ScalarType,3,1> VectorType;

public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW


    Wrench3() {}

    Wrench3(const VectorType& f, const VectorType& t) :
        force(f),
        torque(t)
    {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("Force", force, "The force");
        r.property("Torque", torque, "The torque");
    }


public:
    VectorType force;
    VectorType torque;
};


template<typename ScalarType>
Wrench3<ScalarType> operator * (const Pose3& trans, const Wrench3<ScalarType>& w)
{
    Eigen::Matrix<ScalarType,3,3> rot = trans.r.toRotationMatrix();
    return Wrench3<ScalarType>(rot*w.force, rot*w.torque);
}

template<typename ScalarType>
Wrench3<ScalarType> operator ^ (const Pose3& trans, const Wrench3<ScalarType>& w)
{
    Eigen::Matrix<ScalarType,3,3> rot = trans.r.toRotationMatrix();
    return Wrench3<ScalarType>(rot*w.force, rot*(w.torque-trans.t.cross(w.torque)));
}


typedef Wrench2<float> Wrench2f;
typedef Wrench2<double> Wrench2d;

typedef Wrench3<float> Wrench3f;
typedef Wrench3<double> Wrench3d;


} // namespace robot

template <>
class IsCheapToCopy<robot::Wrench2f> : public std::true_type {};

template <>
class IsCheapToCopy<robot::Wrench2d> : public std::true_type {};

template <>
class IsCheapToCopy<robot::Wrench3f> : public std::true_type {};

template <>
class IsCheapToCopy<robot::Wrench3d> : public std::true_type {};


} // namespace mira

#endif