Matrix.h

#ifndef BIORBD_UTILS_MATRIX_H
#define BIORBD_UTILS_MATRIX_H
 
#include "biorbdConfig.h"
#include "rbdl_math.h"
 
namespace biorbd {
namespace rigidbody {
class GeneralizedCoordinates;
}
 
namespace utils {
#ifdef SWIG
class BIORBD_API Matrix
#else
class BIORBD_API Matrix : public RigidBodyDynamics::Math::MatrixNd
#endif
{
public:
    Matrix();
 
#ifdef BIORBD_USE_EIGEN3_MATH
    template<typename OtherDerived> Matrix(const Eigen::MatrixBase<OtherDerived>& other) :
        Eigen::MatrixXd(other){}
#endif
#ifdef BIORBD_USE_CASADI_MATH
 
    Matrix(
            const biorbd::utils::Matrix& other);
 
    Matrix(
            const RigidBodyDynamics::Math::MatrixNd& other);
 
    Matrix(
            const RBDLCasadiMath::MX_Xd_SubMatrix& other);
 
#endif
 
    Matrix(
            unsigned int nbRows,
            unsigned int nbCols);
 
#ifndef SWIG
 
#ifdef BIORBD_USE_EIGEN3_MATH
    template<typename OtherDerived>
        biorbd::utils::Matrix& operator=(const Eigen::MatrixBase <OtherDerived>& other){
            this->Eigen::MatrixXd::operator=(other);
            return *this;
        }
#endif
#ifdef BIORBD_USE_CASADI_MATH
 
    void operator=(
            const biorbd::utils::Matrix& other);
 
    void operator=(
            const RBDLCasadiMath::MX_Xd_SubMatrix& other);
#endif
 
#endif
};
 
}}
 
#endif // BIORBD_UTILS_MATRIX_H