48 lines
1.7 KiB
C++
48 lines
1.7 KiB
C++
#ifndef DILLCREATOR_HPP_
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#define DILLCREATOR_HPP_
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#include "MultiBodyTreeCreator.hpp"
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namespace btInverseDynamics {
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/// Creator class for building a "Dill" system as intruduced as benchmark example in
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/// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
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/// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International
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/// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
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///
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/// This is a self-similar branched tree, somewhat resembling a dill plant
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class DillCreator : public MultiBodyTreeCreator {
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public:
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/// ctor
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/// @param levels the number of dill levels
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DillCreator(int levels);
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/// dtor
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~DillCreator();
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///\copydoc MultiBodyTreeCreator::getNumBodies
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int getNumBodies(int* num_bodies) const;
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///\copydoc MultiBodyTreeCreator::getBody
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int getBody(int body_index, int* parent_index, JointType* joint_type,
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vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
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idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
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void** user_ptr) const;
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private:
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/// recursively generate dill bodies.
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/// TODO better documentation
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int recurseDill(const int levels, const int parent, const idScalar d_DH_in,
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const idScalar a_DH_in, const idScalar alpha_DH_in);
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int m_level;
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int m_num_bodies;
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std::vector<int> m_parent;
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std::vector<vec3> m_parent_r_parent_body_ref;
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std::vector<mat33> m_body_T_parent_ref;
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std::vector<vec3> m_body_axis_of_motion;
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std::vector<idScalar> m_mass;
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std::vector<vec3> m_body_r_body_com;
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std::vector<mat33> m_body_I_body;
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int m_current_body;
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};
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}
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#endif
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