body3dtrack.h

Go to the documentation of this file.

#ifndef GCOP_BODY3DTRACK_H
#define GCOP_BODY3DTRACK_H

#include <Eigen/Dense>
#include <vector>
#include <type_traits>
#include "body3d.h"

namespace gcop {
  
  using namespace std;
  using namespace Eigen;

  
  class Body3dTrack {
  public:
    
    Body3dTrack(Body3d<> &sys, int nf, double vd0, double t0, double tf,
                double r = 25,
                bool odometry = true,
                bool extforce = false,
                bool forces = false);

    void Optp(VectorXd &p, const vector<Body3dState> &xs);

    void Get(Body3dState &x, double vd, double t) const;

    void MakeTrue();

    void Add(const Vector6d &u, const Body3dState &x, double h);

    void Add2(const Vector6d &u, const Body3dState &x, double h);

    Body3d<> &sys;     

    double t0;       
    double tf;       
    double r;       
    double w;      
    double h;      
    double dmax;    

    bool odometry;         

    bool extforce;         

    bool forces;           
    
    vector<double> ts;     

    vector<Body3dState> xs;      

    vector<Vector6d> us;   
    
    vector<Vector3d> ls;   
    vector<bool> observed; 

    vector<Body3dState> xos;     
    vector<Vector6d> uos;     

    bool init; 
    VectorXd p;            
    vector<int> pis;       

    double pr;     

    vector< vector<pair<int, Vector3d> > > Is;  

    vector< vector<pair<int, Vector3d> > > Js;  
    vector<int> cis;       

        
    vector<Vector6d> vs;   

    double cp;             

    Vector6d cv;           

    Vector6d cw;           

  };
}

#endif