Vector.h

#ifndef BIORBD_UTILS_VECTOR_H
#define BIORBD_UTILS_VECTOR_H
 
#include "biorbdConfig.h"
#include "rbdl_math.h"
#include "Utils/Scalar.h"
 
namespace biorbd {
namespace utils {
class Vector3d;
 
#ifdef SWIG
class BIORBD_API Vector
#else
class BIORBD_API Vector : public RigidBodyDynamics::Math::VectorNd
#endif
{
public:
    Vector();
 
    Vector(
            unsigned int size);
 
    Vector(
            const biorbd::utils::Vector& other);
 
    Vector(
            const RigidBodyDynamics::Math::VectorNd& other);
 
 
    Vector(
            const biorbd::utils::Vector3d& other);
 
#ifdef BIORBD_USE_EIGEN3_MATH
    template<typename OtherDerived> Vector(const Eigen::MatrixBase<OtherDerived>& other) :
        Eigen::VectorXd(other){}
#endif
 
#ifdef BIORBD_USE_CASADI_MATH
    Vector(
            const casadi::MX& other);
 
    Vector(
            const RBDLCasadiMath::MX_Xd_SubMatrix& other);
#endif
 
    biorbd::utils::Scalar norm(
            unsigned int p = 2,
            bool skipRoot = false) const;
 
    biorbd::utils::Vector normGradient(
            unsigned int p = 2,
            bool skipRoot = false);
 
#ifndef SWIG
    void operator=(
            const biorbd::utils::Vector& other);
#ifdef BIORBD_USE_EIGEN3_MATH
    template<typename OtherDerived>
        biorbd::utils::Vector& operator=(const Eigen::MatrixBase <OtherDerived>& other){
            this->Eigen::VectorXd::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_VECTOR_H