GeneralizedTorque.h

#ifndef BIORBD_UTILS_GENERALIZED_TORQUE_H
#define BIORBD_UTILS_GENERALIZED_TORQUE_H
 
#include "biorbdConfig.h"
#include "Utils/Vector.h"
 
namespace biorbd {
namespace rigidbody {
class Joints;
 
class BIORBD_API GeneralizedTorque : public biorbd::utils::Vector
{
public:
 
    GeneralizedTorque();
 
    GeneralizedTorque(
            unsigned int nTorque);
 
    GeneralizedTorque(const biorbd::rigidbody::Joints& j);
 
    GeneralizedTorque(
            const biorbd::rigidbody::GeneralizedTorque& other);
 
    GeneralizedTorque(
            const RigidBodyDynamics::Math::VectorNd& v);
 
#ifdef BIORBD_USE_EIGEN3_MATH
 
    template<typename OtherDerived> GeneralizedTorque(
            const Eigen::MatrixBase<OtherDerived>& other) :
        biorbd::utils::Vector(other){}
 
#endif
 
#ifdef BIORBD_USE_CASADI_MATH
 
    GeneralizedTorque(
            const casadi::MX& v);
 
#endif
 
 
#ifndef SWIG
 
#ifdef BIORBD_USE_EIGEN3_MATH
 
    template<typename OtherDerived>
        biorbd::rigidbody::GeneralizedTorque& operator=(const Eigen::MatrixBase <OtherDerived>& other){
            this->biorbd::utils::Vector::operator=(other);
            return *this;
        }
 
#endif
 
    void operator=(
            const biorbd::utils::Vector& other);
#ifdef BIORBD_USE_CASADI_MATH
 
    void operator=(
            const RBDLCasadiMath::MX_Xd_SubMatrix& other);
 
    void operator=(
            const casadi::MX& other);
#endif
 
#endif
};
 
}}
 
#endif // BIORBD_UTILS_GENERALIZED_TORQUE_H