ba8964c4ac
This change adds support for calculating Jacobians and dot(Jacobian)*u terms, along with the required support for the 3xN matrices in the standalone math library. It also adds functions to compute kinematics only (position, velocity, accel). To facilitate tests, the Cl also adds a RandomTreeCreator to create randomized multibody trees. Thanks to Thomas Buschmann for this contribution!
32 lines
956 B
C++
32 lines
956 B
C++
///@file Configuration for Inverse Dynamics Library with Eigen
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#ifndef INVDYNCONFIG_EIGEN_HPP_
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#define INVDYNCONFIG_EIGEN_HPP_
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#define btInverseDynamics btInverseDynamicsEigen
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#ifdef BT_USE_DOUBLE_PRECISION
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// choose double/single precision version
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typedef double idScalar;
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#else
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typedef float idScalar;
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#endif
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// use std::vector for arrays
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#include <vector>
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// this is to make it work with C++2003, otherwise we could do this
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// template <typename T>
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// using idArray = std::vector<T>;
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template <typename T>
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struct idArray {
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typedef std::vector<T> type;
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};
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typedef std::vector<int>::size_type idArrayIdx;
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// default to standard malloc/free
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#include <cstdlib>
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#define ID_DECLARE_ALIGNED_ALLOCATOR() EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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// Note on interfaces:
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// Eigen::Matrix has data(), to get c-array storage
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// HOWEVER: default storage is column-major!
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#define ID_LINEAR_MATH_USE_EIGEN
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#include "Eigen/Eigen"
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#include "details/IDEigenInterface.hpp"
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#endif
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