SpatialVector.h

#ifndef BIORBD_UTILS_SPATIAL_VECTOR_H
#define BIORBD_UTILS_SPATIAL_VECTOR_H
 
#include "biorbdConfig.h"
#include "rbdl_math.h"
#include "Utils/Scalar.h"
 
namespace biorbd {
namespace utils {
 
#ifdef SWIG
class BIORBD_API SpatialVector
#else
class BIORBD_API SpatialVector : public RigidBodyDynamics::Math::SpatialVector
#endif
{
public:
    SpatialVector();
 
    SpatialVector(
            const biorbd::utils::SpatialVector& other);
 
    SpatialVector(
            biorbd::utils::Scalar v1, biorbd::utils::Scalar v2, biorbd::utils::Scalar v3,
            biorbd::utils::Scalar v4, biorbd::utils::Scalar v5, biorbd::utils::Scalar v6);
 
#ifdef BIORBD_USE_CASADI_MATH
    SpatialVector(
            const casadi::MX& v);
 
    SpatialVector(
            const RBDLCasadiMath::MX_Xd_SubMatrix& m);
#endif
 
#ifndef SWIG
    void operator=(
            const biorbd::utils::SpatialVector& other);
#ifdef BIORBD_USE_EIGEN3_MATH
    template<typename OtherDerived>
        biorbd::utils::SpatialVector& operator=(const Eigen::MatrixBase <OtherDerived>& other){
            this->Eigen::Matrix<double, 6, 1>::operator=(other);
            return *this;
        }
#endif
#ifdef BIORBD_USE_CASADI_MATH
    void operator=(
            const RBDLCasadiMath::MX_Xd_SubMatrix& other);
 
    void operator=(
            const casadi::MX& other);
#endif
 
#endif
};
 
}}
 
#endif // BIORBD_UTILS_SPATIAL_VECTOR_H