IMU.h

#ifndef BIORBD_RIGIDBODY_IMU_H
#define BIORBD_RIGIDBODY_IMU_H
 
#include <memory>
#include "biorbdConfig.h"
#include "Utils/RotoTransNode.h"
 
namespace biorbd {
namespace utils {
class String;
}
 
namespace rigidbody {
 
#ifdef SWIG
class BIORBD_API IMU
#else
class BIORBD_API IMU : public biorbd::utils::RotoTransNode
#endif
{
public:
 
    IMU(
            bool isTechnical = true, 
            bool isAnatomical = true);
 
    IMU(
            const biorbd::utils::RotoTransNode& RotoTrans, 
            bool isTechnical = true, 
            bool isAnatomical = true); 
 
#ifdef BIORBD_USE_EIGEN3_MATH
    template<typename OtherDerived> IMU(
            const Eigen::MatrixBase<OtherDerived>& other) :
        biorbd::utils::RotoTransNode(other){}
#endif
#ifdef BIORBD_USE_CASADI_MATH
    IMU(
            const biorbd::rigidbody::IMU& imu);
 
    biorbd::rigidbody::IMU operator*(const biorbd::rigidbody::IMU& other) const;
#endif
 
 
    biorbd::rigidbody::IMU DeepCopy() const;
 
    void DeepCopy(const biorbd::rigidbody::IMU& other);
 
    bool isTechnical() const;
 
    bool isAnatomical() const;
 
#ifndef SWIG
#ifdef BIORBD_USE_EIGEN3_MATH
    template<typename OtherDerived>
        biorbd::rigidbody::IMU& operator=(const Eigen::MatrixBase <OtherDerived>& other){
            this->biorbd::utils::RotoTransNode::operator=(other);
            return *this;
        }
#endif
#endif
 
protected:
    std::shared_ptr<bool> m_technical; 
    std::shared_ptr<bool> m_anatomical; 
 
};
 
}}
 
#endif // BIORBD_RIGIDBODY_IMU_H