wrench.h

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#ifndef GCOP_WRENCH_H
#define GCOP_WRENCH_H

namespace gcop {
  
  using namespace Eigen;
  
  template <class T, int n, int c> class Wrench {
  public:

    typedef Matrix<double, 6, 1> Vector6d;
    typedef Matrix<double, c, 1> Vectorcd;
    typedef Matrix<double, c, c> Matrixcd;
    typedef Matrix<double, 6, c> Matrix6xcd;
    typedef Matrix<double, 6, n> Matrix6xnd;
            
    Wrench(bool dx = true, bool du = true);

    
    virtual void F(Vector6d &f,
                   double t, const T &x, const Vectorcd &u,
                   Matrix6xnd *fx = 0, Matrix6xcd *fu = 0) = 0;
    
    bool dx;   
    bool du;   
  };
  
  template <class T, int n, int c> 
    Wrench<T, n, c>::Wrench(bool dx, bool du) :
    dx(dx), du(du) {
  } 
}

#endif