SegmentCharacteristics.h

#ifndef BIORBD_RIGIDBODY_SEGMENT_CHARACTERISTICS_H
#define BIORBD_RIGIDBODY_SEGMENT_CHARACTERISTICS_H
 
#include <memory>
#include <rbdl/Body.h>
#include "biorbdConfig.h"
 
#include "Utils/Scalar.h"
 
namespace biorbd {
namespace utils {
class Vector3d;
}
 
namespace rigidbody {
class Mesh;
 
#ifdef SWIG
class BIORBD_API SegmentCharacteristics
#else
class BIORBD_API SegmentCharacteristics : public RigidBodyDynamics::Body
#endif
{
public:
    SegmentCharacteristics();
 
    SegmentCharacteristics(
            double mass,
            const biorbd::utils::Vector3d &com, 
            const RigidBodyDynamics::Math::Matrix3d &inertia); 
 
    SegmentCharacteristics(
            double mass,
            const biorbd::utils::Vector3d &com, 
            const RigidBodyDynamics::Math::Matrix3d &inertia, 
            const biorbd::rigidbody::Mesh &mesh); 
 
    biorbd::rigidbody::SegmentCharacteristics DeepCopy() const;
 
    void DeepCopy(const biorbd::rigidbody::SegmentCharacteristics& other);
 
    void setLength(
            const biorbd::utils::Scalar& val);
 
    const biorbd::utils::Scalar& length() const;
 
    double mass() const;
 
    biorbd::utils::Vector3d CoM() const;
 
    void setCoM(const biorbd::utils::Vector3d& com);
 
    const biorbd::rigidbody::Mesh& mesh() const;
 
    const RigidBodyDynamics::Math::Matrix3d& inertia() const;
 
protected:
    std::shared_ptr<biorbd::utils::Scalar> m_length; 
    std::shared_ptr<biorbd::rigidbody::Mesh> m_mesh; 
};
 
}}
 
#endif // BIORBD_RIGIDBODY_SEGMENT_CHARACTERISTICS_H