RobotModel.hpp

/*
    Copyright (c) Tobias Löw
    Written by Tobias Löw <https://tobiloew.ch>
 
    This file is part of orwell.
 
    gafro is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License version 3 as
    published by the Free Software Foundation.
 
    gafro is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
    GNU General Public License for more details.
 
    You should have received a copy of the GNU General Public License
    along with gafro. If not, see <http://www.gnu.org/licenses/>.
*/
 
#pragma once
 
#include <memory>
//
#include <orwell/RobotState.hpp>
 
namespace orwell
{
 
    template <int dof>
    class RobotModel
    {
      public:
        RobotModel() = default;
 
        virtual ~RobotModel() = default;
 
        using Vector = typename RobotState<dof>::Vector;
 
        virtual void computeCartesianState(const orwell::RobotState<dof> &robot_state) = 0;
 
        virtual Vector computeForwardDynamics(const Vector &position, const Vector &velocity, const Vector &acceleration, const double &gravity) = 0;
 
        virtual const Eigen::Matrix<double, 6, dof> &getJacobian() const = 0;
 
      public:
        using Ptr = std::shared_ptr<RobotModel>;
    };
 
}  // namespace orwell
 
#include <orwell/RobotModel.hxx>