Vector3d.h

#ifndef BIORBD_UTILS_VECTOR3D_H
#define BIORBD_UTILS_VECTOR3D_H
 
#include <memory>
#include "biorbdConfig.h"
#include "rbdl_math.h"
#include "Utils/Node.h"
#include "Utils/Scalar.h"
 
namespace biorbd {
namespace utils {
class RotoTrans;
class String;
class Vector;
 
#ifdef SWIG
class BIORBD_API Vector3d
#else
class BIORBD_API Vector3d : public RigidBodyDynamics::Math::Vector3d, public biorbd::utils::Node
#endif
{
    public:
    Vector3d();
 
    Vector3d(
            const biorbd::utils::Scalar& x,
            const biorbd::utils::Scalar& y,
            const biorbd::utils::Scalar& z);
 
    Vector3d(
            const biorbd::utils::Scalar& x,
            const biorbd::utils::Scalar& y,
            const biorbd::utils::Scalar& z,
            const biorbd::utils::String &name,
            const biorbd::utils::String &parentName);
 
    Vector3d(
            const biorbd::utils::Vector3d vec,
            const biorbd::utils::String &name,
            const biorbd::utils::String &parentName);
 
    Vector3d(
            const RigidBodyDynamics::Math::Vector3d& other);
 
    Vector3d(
            const RigidBodyDynamics::Math::VectorNd& other);
 
    Vector3d(
            const RigidBodyDynamics::Math::Vector4d& other);
 
#ifdef BIORBD_USE_EIGEN3_MATH
    template<typename OtherDerived> Vector3d(
            const Eigen::MatrixBase<OtherDerived>& other) :
        RigidBodyDynamics::Math::Vector3d(other), biorbd::utils::Node () {
    }
 
    template<typename OtherDerived> Vector3d(
            const Eigen::MatrixBase<OtherDerived>& other, 
            const biorbd::utils::String &name,  
            const biorbd::utils::String &parentName) :
        RigidBodyDynamics::Math::Vector3d(other), biorbd::utils::Node (name, parentName) {
 
    }
#endif
#ifdef BIORBD_USE_CASADI_MATH
 
    Vector3d(
            const RBDLCasadiMath::MX_Xd_SubMatrix& other);
 
#endif
 
    biorbd::utils::Vector3d DeepCopy() const;
    
    void DeepCopy(const biorbd::utils::Vector3d& other);
 
    //
    biorbd::utils::Vector3d applyRT(
            const RotoTrans& rt) const;
 
    void applyRT(
            const RotoTrans& rt);
 
#ifndef SWIG
 
#ifdef BIORBD_USE_EIGEN3_MATH
    template<typename OtherDerived>
        biorbd::utils::Vector3d& operator=(const Eigen::MatrixBase <OtherDerived>& other){
            this->Eigen::Vector3d::operator=(other);
            return *this;
        }
#endif
 
#ifdef BIORBD_USE_CASADI_MATH
 
    biorbd::utils::Scalar x() const;
 
    biorbd::utils::Scalar y() const;
 
    biorbd::utils::Scalar z() const;
 
    template<unsigned int i, unsigned int j>
    void operator=(
            const MX_Xd_static<i, j>& other){
        this->block<3, 1>(0, 0) = other;
    }
 
    void operator=(
            const RBDLCasadiMath::MX_Xd_SubMatrix& other);
 
    void operator=(
            const RigidBodyDynamics::Math::Vector4d& other);
 
#endif
 
#endif
 
protected:
    void setType();
};
 
}}
 
#endif // BIORBD_UTILS_VECTOR3D_H