joint.h

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#ifndef GCOP_JOINT_H
#define GCOP_JOINT_H

#include <Eigen/Dense>

namespace gcop {
  
  using namespace std;
  using namespace Eigen;
  
  typedef Matrix<double, 6, 1> Vector6d;
  typedef Matrix<double, 6, 6> Matrix6d;
  
  class Joint {
  public:
    Joint();
    
    Joint(const Vector6d &a,
          const Matrix4d &gp,
          const Matrix4d &gc,
          double damping = 0,
          double friction = 0);
    
    virtual ~Joint();
    
    void Init();

    Vector6d a;    
    Matrix4d gp;   
    Matrix4d gc;   

    double damping;   
    double friction;  
    double lower;     
    double upper;     

    Matrix6d Ac;   
    Matrix4d gpi;  
    Matrix4d gci;  

    Vector6d S;    
    string name;   
    
  };
}

#endif