IMUs.h

#ifndef BIORBD_RIGIDBODY_IMUS_H
#define BIORBD_RIGIDBODY_IMUS_H
 
#include <vector>
#include <memory>
#include "biorbdConfig.h"
 
namespace biorbd {
namespace utils {
class String;
class Matrix;
class RotoTransNode;
}
 
namespace rigidbody {
class GeneralizedCoordinates;
class IMU;
class BIORBD_API IMUs
{
public:
    IMUs();
 
    IMUs(
            const biorbd::rigidbody::IMUs& other);
    
    virtual ~IMUs();
    
    biorbd::rigidbody::IMUs DeepCopy() const;
 
    void DeepCopy(
            const biorbd::rigidbody::IMUs& other);
 
    // Set and get
 
    void addIMU(
            bool technical = true,
            bool anatomical = true); 
 
    void addIMU(
            const biorbd::utils::RotoTransNode &RotoTrans,
            bool technical = true,
            bool anatomical = true); 
 
    unsigned int nbIMUs() const;
 
    std::vector<biorbd::utils::String> IMUsNames();
 
    std::vector<biorbd::utils::String> technicalIMUsNames();
 
    std::vector<biorbd::utils::String> anatomicalIMUsNames(); 
 
 
    const std::vector<biorbd::rigidbody::IMU>& IMU() const;
 
    std::vector<biorbd::rigidbody::IMU> IMU(
            const biorbd::utils::String& segmentName);
 
    const biorbd::rigidbody::IMU& IMU(
            unsigned int idx);
 
    std::vector<biorbd::rigidbody::IMU> IMU(
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            bool updateKin = true);
 
    biorbd::rigidbody::IMU IMU(
            const biorbd::rigidbody::GeneralizedCoordinates&Q,
            unsigned int  idx,
            bool updateKin = true);
 
    std::vector<biorbd::rigidbody::IMU> segmentIMU(
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            unsigned int  idx,
            bool updateKin = true); 
 
    unsigned int nbTechIMUs();
 
    unsigned int nbAnatIMUs();
 
    std::vector<biorbd::rigidbody::IMU> technicalIMU(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool updateKin = true);
 
    std::vector<biorbd::rigidbody::IMU> technicalIMU();
 
    std::vector<biorbd::rigidbody::IMU> anatomicalIMU(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool updateKin = true);
 
    std::vector<biorbd::rigidbody::IMU> anatomicalIMU(); 
 
    std::vector<biorbd::utils::Matrix> IMUJacobian(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool updateKin = true);
 
    std::vector<biorbd::utils::Matrix> TechnicalIMUJacobian(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool updateKin = true);
 
protected:
 
    std::vector<biorbd::utils::Matrix> IMUJacobian(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool updateKin,
            bool lookForTechnical);
 
    std::shared_ptr<std::vector<biorbd::rigidbody::IMU>> m_IMUs; 
 
};
 
}}
 
#endif // BIORBD_RIGIDBODY_IMUS_H